Brain-controlled body movement assistance devices and methods

ABSTRACT

Methods, devices, systems, and apparatus, including computer programs encoded on a computer storage medium, for brain-controlled body movement assistance devices. In one aspect, a device includes a brain-controlled body movement assistance device with a brain-computer interface (BCI) component adapted to be mounted to a user, a body movement assistance component operably connected to the BCI component and adapted to be worn by the user, and a feedback mechanism provided in connection with at least one of the BCI component and the body movement assistance component, the feedback mechanism being configured to output information relating to a usage session of the brain-controlled body movement assistance device.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a continuation of U.S. application Ser. No.15/401,737, filed on Jan. 9, 2017, which is a continuation of U.S.application Ser. No. 13/842,749, filed Mar. 15, 2013 (now U.S. Pat. No.9,539,118). The disclosure of the prior applications are considered partof (and are incorporated by reference in) the disclosure of thisapplication.

STATEMENT OF FEDERAL GOVERNMENT RIGHTS

This invention was made with government support under Work for OthersAgreement No. NFE-15-05518, between UT-Battelle, LLC, operating underPrime Contract No. DE-AC05-00OR22725 for the U.S. Department of Energy,and Neurolutions, Inc. The government has certain rights in theinvention.

TECHNICAL FIELD

This specification relates to brain-controlled devices and methods andrelated equipment that assist users in performing body movements.

BACKGROUND

Brain-computer interface (BCI) technology involves the acquisition andinterpretation of brain signals to determine the intentions of theperson that produced the brain signals, and then using the determinedintentions to carry out intended tasks. One example application of BCItechnologies is the control of a cursor on a computer screen. There aremany others.

Another example application area for BCI technologies is in connectionwith stroke patients. Unilateral stroke, for example, is a stroke eventthat affects only, or mainly, one side of the brain. When a unilateralstroke occurs, the opposite side of the stoke victim's body may be leftparalyzed or weak. That is because in normal function, one side orhemisphere of the brain controls the opposite, or contralateral, side ofthe body. Thus, the right brain, or right cerebral hemisphere, controlsthe left side of the body, and vice-versa.

Patients who have experienced a brain injury (e.g., stroke, trauma,infection, hemorrhage, neonatal malformation, cerebral palsy, orneurodegenerative) typically undergo some type of rehabilitation in anattempt to restore or strengthen the motor impaired or paralyzed side ofthe body, often using a variety of rehabilitation devices that aid inthe rehabilitation effort. Often, the rehabilitation method involvesequipment that requires the patient, in order to perform the necessaryrehabilitation activities, to be at a particular location such as arehabilitation facility where the equipment is located. The presentinventors believe that such constraints often negatively impact thepotential for success in the rehabilitation effort for a variety ofreasons. For example, use of rehabilitation equipment at arehabilitation facility can cause the rehabilitation to be performedoutside of the context of the patient's domestic needs (e.g., performingdaily activities at the patient's home) and can cause the rehabilitationto be limited to specific amounts of time, both of which can limitprogress made a patient during rehabilitation. Repetitions in thecontext of a patient's living environment with objects and surroundingfrom a patient's daily life can increase the effectiveness ofrehabilitation activities. Rehabilitation using rehabilitation equipmentthat is removed from such a context (e.g., patient's home) and that isavailable for limited periods of time (e.g., scheduled appointments atrehabilitation facility) may not be optimized to provide the bestrecovery for a patient.

The use of BCI technology for stroke patient rehabilitation isdescribed, for example, in U.S. patent application Ser. No. 12/133,919to Leuthardt et al. ('919 application). The '919 application describes aBCI system to assist a hemiparetic subject, or in other words, a subjectwho has suffered a unilateral stroke brain insult and thus has an injuryin, or mainly in, one hemisphere of the brain. For that patient, theother hemisphere of the brain may be normal. The '531 patent applicationdescribes an idea of ipsilateral control, in which brain signals fromone side of the brain are used to control body functions on the sameside of the body. The present inventors believe this idea of ipsilateralcontrol is particularly useful in the context of unilateral strokepatients where, again, the opposite brain hemisphere may be damaged orimpaired and thus may not produce useful brain signals for use by a BCIsystem.

SUMMARY

In one implementation, a brain-controlled body movement assistancedevice includes a brain-computer interface (BCI) component adapted to bemounted to a user, the BCI component configured to (i) receive brainsignal information captured from the patient by a brain signalacquisition system, (ii) process the captured brain signal informationto detect if the captured brain signal information is indicative of anintention by the patient related to one or more predefined movements ofone or more of the user's body parts, and (iii) if an intention of oneof the one or more predefined movements is detected, produce an outputsignal indicative of the detected predefined movement; a body movementassistance component operably connected to the BCI component and adaptedto be worn by the user in proximity to and attached with the body partsof the one or more predefined movements, the body movement assistancecomponent being configured to (i) receive from the BCI component anoutput signal of a detected predefined movement, and (ii) in responsethereto, induce or assist in moving the one or more body parts inaccordance with the detected predefined movement; and a feedbackmechanism provided in connection with at least one of the BCI componentand the body movement assistance component, the feedback mechanism beingconfigured to output information relating to a usage session of thebrain-controlled body movement assistance device.

Such a brain-controlled body movement assistance device may optionallyinclude one or more of the following features. The feedback mechanismcan include a display device that is positioned to enable the user toview the display device when the brain-controlled assistance device ismounted to the user, the display device further configured to displaythe information relating to the usage session of the brain-controlledassistance device. The feedback mechanism can include an audio outputdevice that is configured to audibly output the information relating tothe usage session of the brain-controlled assistance device. Thebrain-controlled body movement assistance device can further include oneor more batteries that are electrically connected to the BCI component,to the body movement assistance component, and to the feedbackmechanism, the one or more batteries being configured to store a chargeand to provide electrical power to the BCI component, to the bodymovement assistance component, and to the feedback mechanism at leastwhile the device is untethered from an external power source. The devicecan be wearable by the user and can be configured to be worn on top of aparticular body part of the user through the use of one or moreattachment mechanisms. The usage session of the brain-controlled bodymovement assistance device can include a rehabilitation session duringwhich one or more rehabilitation exercises are performed by the bodymovement assistance component with regard to the particular body partbased on captured brain signals that are determined by the BCI interfaceto indicate an intention to move the particular body part. Theinformation output by the feedback mechanism can describe the detectedintention to move the particular body part and the one or morerehabilitation exercises that are being performed by the body movementassistance component. The brain-controlled body movement assistancedevice can further include a prompt mechanism that is provided inconnection with at least one of the BCI component and the body movementassistance component, the prompt mechanism being configured to generateone or more sensory stimulations to prompt the user to generate one ormore particular brain signals.

In another implementation, a brain-controlled body movement assistancedevice includes a brain-computer interface (BCI) component adapted to bemounted to a user, the BCI component configured to (i) receive brainsignal information captured from the patient by a brain signalacquisition system, (ii) process the captured brain signal informationto detect if the captured brain signal information is indicative of anintention by the patient related to one or more predefined movements ofone or more of the user's body parts, and (iii) if an intention of oneof the one or more predefined movements is detected, produce an outputsignal indicative of the detected predefined movement; a body movementassistance component operably connected to the BCI component and adaptedto be worn by the user in proximity to and attached with the body partsof the one or more predefined movements, the body movement assistancecomponent being configured to (i) receive from the BCI component anoutput signal of a detected predefined movement, and (ii) in responsethereto, induce or assist in moving the one or more body parts inaccordance with the detected predefined movement; and a prompt mechanismthat is provided in connection with at least one of the BCI componentand the body movement assistance component, the prompt mechanism beingconfigured to generate one or more sensory stimulations to prompt theuser to generate one or more particular brain signals.

Such a brain-controlled body movement assistance device may optionallyinclude one or more of the following features. The prompt mechanism caninclude a display device that is positioned to enable the user to viewthe display device when the brain-controlled assistance device ismounted to the user, the display device further configured to displayinformation to prompt the user to generate the one or more particularbrain signals. The prompt mechanism can include one or more tactileprompt interfaces that are configured to provide tactile stimulation toone or more portions of the user's body. The prompt mechanism caninclude one or more electrical stimulators that are configured tostimulate particular nerves or muscles of the users body through theapplication of electrical current at one or more locations on the user'sbody. The prompt mechanism can include an audio output device that isconfigured to audibly output information to prompt the user to generatethe one or more particular brain signals.

In another implementation, a wearable brain-controlled device forrehabilitation of one or more brain injuries includes a brain-computerinterface (BCI) component adapted to be worn on a forearm of a user, theBCI component configured to (i) receive brain signal informationcaptured from the patient by a brain signal acquisition system, (ii)process the captured brain signal information to detect if the capturedbrain signal information is indicative of an intention by the patientrelated to one or more predefined movements of the user's hand, and(iii) if an intention of one of the one or more predefined movements isdetected from the captured brain signal information, produce an outputsignal of the detected predefined movement; a hand movement assistancecomponent operably connected to the BCI component and adapted to be wornby and connect to a hand of the user, the hand movement assistancecomponent being configured to (i) receive from the BCI component anoutput signal of a detected predefined movement, and (ii) in responsethereto, induce or assist in moving the hand in accordance with thedetected predefined movement; and a display device provided on the BCIcomponent and positioned to enable the user to view the display devicewhen the BCI component is worn on the forearm of the user, the displaydevice further configured to display information relating to a usagesession of the brain-controlled wearable rehabilitation device.

Such a wearable brain-controlled device may optionally include one ormore of the following features. The one or more brain injuries caninclude strokes that have impaired movement of the hand of the user towhich the hand movement assistance component is connected. The hand ofthe user can be on a first side of the user's body, and the brain signalinformation that is processed and used to determine whether the user hasdemonstrated an intention to move the hand, can be captured from a sideof the user's brain that is a same side of the user's body as the firstside of the user's body. The usage session can include a rehabilitationsession that includes opening and closing the user's impaired hand inresponse to detected brain signals.

In another implementation, a brain-controlled wearable rehabilitationdevice can include a brain-computer interface (BCI) component adapted tobe worn on a forearm of a user, the BCI component configured to (i)receive brain signal information captured from the patient by a brainsignal acquisition system, (ii) process the captured brain signalinformation to detect if the captured brain signal information isindicative of an intention by the patient related to one or morepredefined movements of the user's hand, and (iii) if an intention ofone of the one or more predefined movements is detected from thecaptured brain signal information, produce an output signal of thedetected predefined movement; and a hand movement assistance componentoperably connected to the BCI component and adapted to be worn by andconnect to a hand of the user, the hand movement assistance componentbeing configured to (i) receive from the BCI component an output signalof a detected predefined movement, and (ii) in response thereto, induceor assist in moving the hand in accordance with the detected predefinedmovement, wherein the hand movement assistance component includes anextension member to which a finger attachment mechanism is slidablyattached, the extension member being adapted to be moved in a firstdirection that is downward in relation to the top of an attached fingerto provide flexion movement of the attached finger and adapted to bemoved in an opposite, second direction that is upward in relation to thetop of an attached finger to provide extension movement of the attachedfinger.

Such a brain-controlled wearable rehabilitation device may optionallyinclude one or more of the following features. An attachment mechanismof the finger attachment mechanism to the extension member can beadapted to allow rocking of the finger attachment mechanism with respectto the extension member. The hand movement assistance component canfurther include a hinged thumb-support mechanism that is adapted topivot on an axis defined by a hinge from i) a first position thatsupports and restrains a thumb of the hand of the user when the handmovement assistance component is connected to the hand of the user toii) a second position that does not support or restrain the thumb.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A is a diagram of an example BCI body movement assist system forbrain injury rehabilitation, shown in use by a patient.

FIG. 1B is a flowchart of an example overall method of conductingrehabilitation therapy using a system such as that shown in FIG. 1A.

FIG. 2 is a block diagram of an example BCI body movement assist system.

FIGS. 3-6 are diagrams of the wearable BCI/assist device shown in FIG.1A, from, respectively, top, thumb-side, bottom and distal-end (front)views.

FIGS. 7A-7B are perspective diagrams of the wearable BCI/assist deviceshown in FIG. 1A in use on a patient's forearm and hand.

FIGS. 8A-8D are flowcharts of example methods performed by a BCI bodymovement assistance system.

FIGS. 9A-9G are diagrams of example user interface displays that may beprovided by a wearable BCI/assist device.

FIG. 10 shows an example of a generic computer device and a genericmobile computer device that may be used in connection with the devicesand systems described in this specification.

Like reference numbers and designations in the various drawings indicatelike elements.

DETAILED DESCRIPTION

This specification generally describes brain-controlled devices andmethods and related equipment that assist users in performing bodymovements. This technology may be particularly useful for strokepatients in their rehabilitation efforts to regain or improve motorfunctions affected by stroke events. While this stroke rehabilitationapplication of the present BCI technology will be described in thisspecification in detail, the techniques described in this specificationhave much broader applicability beyond stroke rehabilitation.

One example implementation, shown in FIG. 1A, is a brain-computerinterface (BCI) body movement assistance system 100 which is adapted foruse by a patient 110 who has experience brain injury (e.g., stroke,trauma, infection, hemorrhage, neonatal malformation, cerebral palsy,nedegenerative) to rehabilitate the patent's hand having impaired motorcontrol. Generally, the system 100 includes: (i) a body-worn, and thusportable, BCI rehabilitation system 101, and (ii) a centralrehabilitation management and compliance system 120. The body-wornrehabilitation system 101 includes: (i) a brain signal acquisitionsystem 112, which in this example is a headset having several surfaceelectrodes that acquire electroencephalogram (EEG) brain signals frommultiple different and distributed surface locations on the patient'sskin adjacent the brain, and (ii) a body-worn BCI and body movementassist device (BCI/assist device) 102, which in this example is adaptedto be worn on the patient's hand and forearm and operates to assist thepatient in moving the patient's four fingers. The central system 120 maybe used in the set-up and on-going operation and monitoring of thebody-worn rehabilitation system 101, and may be located remote fromwhere the patient performs the rehabilitation activities using thewearable system 101, for example, at a healthcare facility or thefacilities of some other type of rehabilitation services provider.

The brain signal acquisition system 112, shown in the FIG. 1A example,is a commercially available brain signal acquisition headset marketedand sold by Emotiv Systems. The acquisition system 112 acquires brainsignals, performs low-level signal processing, and wirelessly transmitsthe EEG brain signals for receipt by the BCI/assist device 102. The EEGbrain signals are acquired by the acquisition system 112 using a numberof arranged surface electrodes 114 that are part of the acquisitionsystem 112. Each of the surface electrodes 114 is located at an end of acorresponding arm that extends from a housing of the acquisition system112 to a distal position such that, when the acquisition system 112 isworn by the patient, the electrodes 114 may be positioned to rest uponthe patient's skin adjacent the brain. The electrodes 114 may bemoistened, through application of a liquid or gel to the electrodes 114,before being applied to the patient's skin, which can increaseconductivity with the patient's skin and can allow for brain signals tobe detected and recorded with greater accuracy.

The brain signal acquisition system 112, although shown only from oneside of the patient in FIG. 1A, may include electrodes 114 that may bepositioned on both sides of the patient's head to acquire brain signalsfrom both sides of the brain. That said, in a case of a patient havingsuffered a unilateral stroke, it may be that useful brain activity isonly generated by one side of the patient's brain (namely, the side ofthe brain unaffected by the stroke). As such, it may be sufficient oronly possible to acquire brain signals from one hemisphere of thepatient's brain, in which case the brain signal acquisition system 112may be designed accordingly for only one side of the patient's brain.

Although an EEG-based brain signal acquisition system 112 with skinsurface electrodes is shown in the FIG. 1A example, other brain signalacquisition systems may alternatively be used. For example, acquisitionsystems with implantable electrodes may be used. For example,electrocorticography (ECOG) electrodes may be used and implanted underthe skull of the patient and positioned so that the electrodes rest uponthe brain surface but without penetrating into the brain tissue. Anotherexample electrode system that may alternatively be used is a“point-style” electrode system that is also implanted beneath the skullof the patient, although this type of electrode system has electrodetips that penetrate into the brain tissue. Typically, such “point-style”implanted electrode systems include many prongs designed so that each ofthe prongs penetrates into the brain tissue at a different location.

Implantable electrodes may be desirable over surface EEG electrodes inthat the acquired brain signals may contain greater information contentregarding the intentions of the patient. For example, with implantableelectrodes, it may be possible to discriminate intentions regarding themovement of each and every one of the patient's fingers, whereas thatmay not be possible, or at least may be more difficult, using brainsignals acquired using surface EEG electrodes. That is because the skullmay operate to block part of the brain signals, particularly at higherfrequencies. That said, it will be recognized that implantableelectrodes have the potential drawback of requiring a medical procedureto implant the electrodes.

The wearable BCI/assist device 102 is generally adapted to receivewirelessly transmitted signals containing information about the brainsignals acquired by the acquisition system 112, process those receivedsignals to determine patient intentions, and in accordance withdetermined patient intentions cause or assist the movement of thepatient's fingers. Although in this example the wearable BCI/assistdevice 102 is designed and adapted to assist in the movement of thepatient's fingers, in alternative implementations of this device 102designed to improve motor activity in the hand and arm, the wearableBCI/assist device 102 may be designed so that it, additionally oralternatively, assists in the movement of the patient's wrist, thumb,elbow and/or shoulder. In alternate implementations, the wearableBCI/assist device 102 be designed and adapted to facilitate the movementof other extremities, such as the foot, ankle, knee or hip.

As shown, the wearable BCI/assist device 102 of the FIG. 1A exampleincludes, (i) a BCI component 104, and (ii) a body movement assistancecomponent 108 operably connected to the BCI component. The BCI component104 generally includes the BCI processing capability and is adapted tobe worn on an upper surface of the patient's forearm. The BCI component104 may be attached to the forearm with, for example, a strap. The bodymovement assistance component 108 is generally connected by way of ahinge to the BCI component 104, and is adapted to be worn generally bythe patient's hand (and in that sense, may be referred to as a glove).In particular, the movement assistance component 108 includes attachmentmechanisms adapted to be attached to the patient's fingers, thumb andhand, and also has multiple controllable actuators that move in a mannerthat imparts movement onto the patient's fingers. In the FIG. 1Aexample, there are two body movement actuators. One movement actuator isattached to an attachment mechanism for both the index finger and themiddle finger (a first finger pair), and imparts flexion and extensionmovement via the attachment mechanism onto those fingers. The othermovement actuator is attached to a different attachment mechanism forboth the ring finger and the pinky finger (a second finger pair), andimparts flexion and extension movement via that attachment mechanismonto those two fingers. As mentioned above, in some implementations thewearable BCI/assist device 102 may be designed and adapted to assist inthe movement of the patient's wrist and/or thumb and/or individualfingers.

Referring to FIG. 1B, we turn now to a general process 150 of how theBCI system 100 shown in FIG. 1A may be used. For purposes ofillustration and by way of example only, the following introductorydescription of use relates to a unilateral stroke patient undergoingrehabilitation of a motor impaired or paralyzed hand. That said, thedevices and methods described in this specification are not limited tothat stroke rehabilitation application.

The first thing that may occur for a stroke patient with impaired handmotor control is that the patient may undergo testing (step 152) todetermine whether or not the patient is a suitable candidate forrehabilitation using the wearable BCI rehabilitation system 101. Thetiming along a rehabilitation/recovery timeline of when such a strokepatient may undergo the testing can vary. For instance, a stroke patientmay undergo the testing (step 152) after acute or sub-acuterehabilitation, or after outpatient rehabilitation. One purpose of thissuitability testing is to determine whether or not finger movementintentions can be ascertained from brain signals generated by thepatient and acquired by the acquisition system 112. As an example, thissuitability testing may be performed using the brain signal acquisitionsystem 112 (appropriately selected and sized for the patient, andpositioned on the patient's head appropriately) and the central system120 (which may be capable of receiving the wireless transmissionsdirectly from the brain signal acquisition system 112). In other words,suitability testing may be done without the need for the BCI/assistdevice 102, which may be appropriate given that the patient has not yetbeen deemed suitable for therapy using such a device 102. Thesuitability testing may be done, for example, at a rehabilitation clinicwhere the central system 120 is located, and under the supervision of aqualified BCI expert. Alternatively, suitability testing may beconducted with the patient located remote from the central system 120,with the remotely captured brain signals being transferred via networkto the central system 120 for processing and analysis.

In some implementations, before performing the suitability testingdescribed in the previous paragraph using the brain signal acquisitionsystem 112 and the BCI/assist device 102 a patient may participate in afirst round of suitability testing using a research grade EEG headsetand BCI device (e.g., BCI2000) as part of the patient suitabilitytesting (step 152). Such research grade equipment may be used todetermine whether a patient is exhibiting any ipsilateral or motorderived signals for BCI use. The research grade equipment may be moresensitive to brain signals than the signal acquisitions system 112and/or the BCI/assist device 102, and thus may be used as part of aninitial screening process before screening is performed by the signalacquisition system 112 and the BCI/assist device 102. The screeningusing research grade equipment can involve similar procedures as thosedescribed with regard to the signal acquisition system 112 and theBCI/assist device 102. Alternatively, research grade equipment may alsouse anatomic or functional magnetic resonance imaging ormagnetoencephalography to further augment suitability of a patient for aBCI system.

If a patient passes one or more screening tests using the research gradeequipment, which may not be portable and which may be located in aclinic/research facility, the patient may proceed to screening using thesignal acquisition system 112 and the BCI/assist device 102. Thescreening process using the signal acquisition system 112 and theBCI/assist device 102 can involve displaying real-time (near real-time)results on a display of the BCI/assist device 102, comparing the resultswith those from the research grade screening for consistency with regardto detected ipsihand control features for the patient (e.g., brainsignal that has been determined to indicate and correspond to userintent to move a body part along the same side of the user's body as theside of the brain where the signal was detected—an ipsilateral brainsignal), and using the detected ipsihand control features to performcued control (e.g., device directed actions by the patient) toaccomplish one or more tasks (e.g., moving a graphical bar displayed bythe BCI/assist device 102 past a threshold level). If the patientsuccessfully performs one or more of the tasks, the patient may beidentified as a candidate for the rehabilitation using the signalacquisition system 112 and the BCI/assist device 102. Additionally, thesignal acquisition system 112 may detect specific physiologic features(e.g., a specific frequency band, amplitude modulation, or phase or timeseries related phenomenon) that may predict the patient's response to arehabilitation regime.

Assuming the patient is a suitable candidate for the rehabilitation, thepatient may then be fitted (step 154) with an appropriately sizedwearable BCI/assist device 102. It may be that the rehabilitation clinicwill have several sizes on hand for the wearable BCI/assist device 102.Alternatively, the BCI/assist device 102 may be manufactured on site andsized specifically for the patient, for example, using three-dimensional(3D) printing or other on-site customized manufacturing techniques. Forexample, three-dimensional scans of a patient can be performed, and acustomized model of the BCI/assist device 102 can be manufactured forthe patient, based on the scanned measurements.

Next, the patient may undergo initial training exercises (step 156),which may be done, for example, also at the rehabilitation facility, andunder the supervision of a qualified BCI expert. The purpose of initialtraining exercises is to ascertain what specific brain signals that theacquisition system senses when the patient is planning and executingcertain intended movements (the sensed brain signals may include, forexample, the electrode or electrodes at which changes from a baselinesignal level are detected, thus indicating some brain activity, and atwhat magnitude and signal frequency that brain activity was sensed.

To do these initial training exercises, the patient may be prompted totry to accomplish various finger movements, and when the patient ispreparing to perform, and in the process of attempting to perform, thosetasks, the brain signals produced during that time may be acquired andeventually stored in memory of the wearable BCI/assist device 102. Thefinger movement prompts may be provided by the wearable BCI/assistdevice 102, for example, using visual displays provided on the BCIcomponent's display device 106 and/or using other sensory prompts (e.g.,audio signal prompts, vibrotactile prompts, etc.) produced by theBCI/assist device 102. As those prompts are being provided to thepatient, the brain signal acquisition system 112 continuously capturesbrain signal samples sensed at each of the multiple electrodes(magnitude at various frequency levels).

The initial training exercises may include several distinct calibrationexercises during which specific brain signals are tested and variouslevels of feedback are provided to the patient. For instance, in a firstcalibration exercise a patient can be cued/prompted to alternate betweenresting and generating ipsilateral brain signals (e.g., think of movingright hand). This first calibration exercise can be configured to assesswhether the patient is able to generate sufficient physiological changewith regard to the previously identified control feature(s). Theipsilateral movement performed by the user can be compared againstperiods of rest to make such an assessment. During this firstcalibration exercise, feedback may not be provided to the patient. In asecond calibration exercise, a patient may be prompted/cued to generateipsilateral signals (e.g., think of moving right hand) to control anobject that is presented on a display 106 of the BCI/assist device 102,such a bar that moves based on the strength of ipsilateral signals thatare generated by the patient. In a third calibration exercise, a patientmay be prompted/cued to generate ipsilateral signals that will controlmovement (e.g., opening and closing) of the body movement assistcomponent 108 of the BCI/assist device 102. The cues can be presented onthe display 106 of the BCI/assist device 102 and feedback can beprovided in the form of movement of the BCI/assist device 102, as wellas through sensory feedback (e.g., playing sound, engaging avibrotactile device, delivering electrical stimulation) and/or othervisual feedback (e.g., presenting information on the display 106). Thesampling rate of the brain acquisition system 112 may be, for example,256 Hz and/or 512 Hz.

Signals containing representations of the captured brain signals andother relevant information are then transmitted wirelessly by theacquisition system 112 for receipt by the BCI/assist device 102, asillustrated in FIG. 1A by Arrow A. The signal representations that arereceived by the acquisitions system 112 can be in any of a variety ofappropriate forms, such as amplitude, power modulation, phasealteration, change in event related potential, and/or change in the rawtime series of the signal.

The brain signal information received by the wearable BCI/assist device102 from the acquisition system 112 will typically be time-stamped insome manner and stored in memory of the BCI/assist device 102. Thisallows, for example, the timing of the acquired brain signals vis-à-visthe timing of the prompts to the patient to be correlated. After aseries of training prompts are completed (and brain signal and timinginformation is stored in memory of the BCI/assist device 102), theacquired data may be transferred from the BCI/assist device 102 to thecentral system 120 for evaluation and processing, as illustrated byArrow B in FIG. 1A.

Generally, the central system 120 performs computer processing (step158) on the data to ascertain what brain signals (electrodes, magnitudesand frequencies) the patient produced when the patient was planning andattempting to execute the various finger movements that the patient wasprompted to perform. The central system 120 may then determine (step160), from the ascertained brain signals, appropriate parameter settingsand/or control features for the BCI/assist device 102, which can includeelectrodes specification, frequency band, and/or changes in power oramplitude of the signal. The central computer 120 may perform thisanalysis and feature selection, at least in part, using input from atechnician.

The central system 120 then will transfer those parameter settings tothe wearable BCI/assist device 102, as indicated by Arrow D in FIG. 1A,so that the parameter settings are used during the patient'srehabilitation exercises. In some implementations, the informationtransmitted to the BCI/assist device 102 may include instructions suchas a series of suggested rehabilitation sessions (e.g., an optimal typeand manner) for the patient, and other configurable settings such astime limits between calibration sessions.

The patient is now able to perform rehabilitation exercises using onlythe portable, wearable BCI rehabilitation system 101 (that is, only thebrain signal acquisition system 112 and the wearable BCI/assist device102). Owing to the portable nature of the BCI rehabilitation system 101,the patient may perform the rehabilitation exercises outside of arehabilitation clinic. For example, the patient may perform the exercisein the patient's home. Such home delivered rehabilitation is believed toassist in the rehabilitation efficacy of the system. For example, theportability and wearable aspects of the BCI rehabilitation system 101can increase the number of opportunities to use the system 101, whichcan increase the number of repetitions that a patient performs using thesystem 101. Such an increase in the number of repetitions is believed tobe positively correlated to improved functional outcomes for patients.Additionally, the portability and wearable aspects of the BCIrehabilitation system 101 permit for the system 101 to be used in andintegrated into a patient's daily life, which can allow for a patient toperform rehabilitation tasks that are context dependent (e.g., foldinglaundry, opening doors, picking-up and organizing belongings) ratherthan rote (e.g., repeatedly opening and closing hand without specificpurpose). Such context-dependent rehabilitation tasks are also believedto positively impact functional outcomes for patients. Taken incombination, the ability to perform physical tasks using the system 101more frequently and within the context of a patient's daily life islikely to enhance the brain plasticity and rehabilitation benefitsbeyond classic in-patient settings with predefined periods of therapy.

To set up the rehabilitation session, the patient will first put on thebrain signal acquisition system 112 (e.g., headset), and position andsecure the electrodes 114 in place against the skin adjacent the brain.Ideally, the electrode positions will be positioned in rehabilitation asthey were in the training exercise, but in reality, that is not alwayspossible; that is why a calibration process (step 162) may be utilized,as will be discussed in more detail below. The patient will then put thewearable BCI/assist device 102 on the patient's forearm and hand asdescribed previously, namely, by securing the BCI component 104 to theforearm and the finger-pair and thumb attachments of the movementassistance component 108 accordingly. The patient may then activate(turn on) both the headset 112 and the BCI/assist device 102 to startthe rehabilitation session.

The rehabilitation session (step 164) may be performed in a variety ofways. In one scenario, the patient performs any finger movement desiredof the types addressed in the training session. For example, the patientmay first desire to perform ten repetitions of flexing and extending theindex/middle finger pair. In this example, the patient first attempts afinger pair flexing movement, and in doing so produces certain brainsignals corresponding to the planning and execution of that finger pairmovement. The brain signal acquisition system 112, during the entirerehabilitation session, acquires periodic samples of brain signals andwirelessly transmits those samples to the BCI component 104 forevaluation (at, e.g., 256 or 512 samples per second). Each sample mayinclude a set of information including parameters (e.g., magnitude,frequency) of the signal sensed at each of the multiple electrodes. TheBCI component 104 processes those brain signal samples to determine thepatient's intentions. If and when the BCI component 104 detects that thepatient has produced brain signals indicating that the patient intendsto flex the index and middle finger pair, the BCI component will producea control signal that activates the movement assistance device 108 toassist in the patient's movement of the index and middle finger pair.

During the rehabilitation session (step 164), the patient may be givencontinuous feedback via the BCI/assist device 102. Feedback may takeseveral forms, and improves in the overall efficacy of therehabilitation session. In general, feedback provided to a patient maybe in the form of visual, acoustic, tactile (e.g., vibrotactile) and/orelectrical stimuli that supplement a control response. One example offeedback is that the BCI/assist device 102 may provide an indication tothe patient that a particular intention has been detected. One exampleway that this may be done is for the BCI/assist device 102 to produce avisual display (on display device 106) showing, for example, that theBCI component 104 has detected a particular intention, for example, thata flexion movement of the index/middle finger pair be performed. Giventhe positioning of the display device 106 on the top of the patient'sforearm, the patient will easily be able to see that this particularintention was detected by the system 101. Another example way thatfeedback may be presented is for the BCI/assist device 102 to generatesound using the BCI component 104 (e.g., using a speaker included in thecomponent). For example, the BCI component 104 may produce tones, or mayproduce recorded spoken feedback, such as “opening hand”. Anotherexample way that feedback may be presented is for the BCI/assist device102 to produce tactile feedback and/or electrical stimuli using the bodymovement assistance component 108.

For example, upon identifying a user's intention to open his/her hand,the BCI/assist device 102 may use the body movement assistance component108 to provide tactile (e.g., vibrotactile) feedback to the user and/orto provide electrical current to the user's hand. In someimplementations, multiple forms of feedback may be provided to a usersimultaneously. Simultaneous presentation of visual, acoustic, tactile,and/or electrical feedback may simultaneously excite multiple areas of apatient's brain, for example, and may encourage neuroplasticity.

The rehabilitation session (step 164) can include prompts/cues thatinstruct the patient to perform particular actions using the system 101.In general, prompts/cues may include one or more visual, acoustic,and/or tactile elements. For example, the display device 106 can displaycues for the patient to move his/her right hand (e.g., open right hand,close right hand), to move his/her left hand, and/or to rest. The BCIcomponent 104 can generate the prompts to be displayed on the display106 (and/or output to the user through one or more other outputmechanisms, such as a speaker and/or tactile device that is part of theBCI component 104) based on a variety of factors, such as apredetermined therapy schedule generated by the central rehabilitationmanagement and compliance system 120, current progress by the user(e.g., number of repetitions performed, progress along a therapyschedule), and/or information obtained by sensors of the BCI/assistdevice 102 (e.g., levels of force detected by pressure sensors in theBCI/assist device 102 indicating degrees to which a patient is drivingmovement of the BCI/assist device 102 and/or emergence or regression ofbrain signals or features detected by the brain signal acquisitionsystem 112).

The BCI/assist device 102 can also operate in a free assist mode (step166) during which a patient is able to use the BCI/assist device 102 toperform tasks within the context of the patient's daily life. During afree assist mode, the BCI/assist device 102 can interpret brain signalsdetected by the brain signal acquisition system 112 to determine whatactions, if any, the user intended for the BCI/assist device 102 toperform, such as opening and/or closing a hand onto which the BCI/assistdevice 102 is mounted. The BCI/assist device 102 can provide a userinterface, such as on the display 106, which can provide feedback to thepatient regarding the type of action that the BCI component 104 hasdetermined that the user intended through brain signals detected by thebrain signal acquisition system 112. The BCI/assist device 102 canperform actions (e.g., closing fingers, opening fingers) that theBCI/assist device 102 determined to have been intended by the patient soas to enable the patient to interact with his/her environment more fullyusing the body part (e.g., hand) on which the BCI/assist device 102 ismounted. For example, during the free assist mode (step 166) a patientcan generate brain signals to cause the BCI/assist device 102 to closeand open the patient's left hand when needed in order to open and closedoors, to pick up objects around the patient's house, to fold laundry,and other daily tasks. As explained above, such contextual use of theBCI/assist device 102 in the patient's daily life can enhance therehabilitation for the patient.

With this type of feedback, if for example the patient is intending aparticular movement and the portable BCI rehabilitation system 101 isnot responding by assisting the patient in performing that movement, thepatient will know immediately that the problem lies with the system 101not detecting the patient's intention, and not some other problem. Onecause of the intention not being detected may be that the electrodes 114of the headset 112 may not be in their proper positions, and adjustmentsto the positioning may solve the problem. Another cause of the intentionnot being detected may be that the patient's brain signals may haveevolved over time during the rehabilitation process, via a process knownas brain plasticity wherein neural pathways become reorganized. This inmany cases may be a positive development for the patient, in thatadditional or different brain activity is occurring to compensate forthe brain areas that were damaged by the stroke. For example, specificfeatures may correlate with these plastic changes, such as an alterationin amplitude of a specific frequency band or a change in phaseinteraction between two cortical sites. As such, it may be appropriatefor a calibration process (step 162) to be performed to update thesystem 101 regarding the brain signals that the patient produces for aparticular finger movement intention.

To perform this calibration process (step 162), the patient may performa new training process similar to the one performed during set-up, or anabbreviated version of that training process. This calibration processmay be guided by the BCI/assist device 102, for example, usingappropriate displays on the display device 106. For example, theBCI/assist device 102 may guide the patient through a number of fingerexercises, and during that time obtain and store brain signalinformation in memory of the BCI/assist device 102. At the end of thecalibration process, the patient may initiate a process wherein the dataobtained during the calibration process is transmitted from theBCI/assist device 102, over a network 130, to the central system 102, asindicated by Arrow B in FIG. 1A. The central system 102 may evaluatethat data as described previously in connection with the initialtraining process, and once that is complete, transmit updates includingupdated operational parameters to the BCI/assist device 102 for use inthe next rehabilitation session. As such, this calibration process maybe performed remotely of any rehabilitation clinic where the centralsystem 120 is located.

Another example of feedback that the BCI/assist device 102 may provideto the patient relates to the status of a particular rehabilitationsession, and even more generally, to the status of attaining certaingoals of the overall rehabilitation effort. In general, information maybe provided in association with measured phenomenon from the BCI/assistdevice 102 and the brain signal acquisition system 112. Feedbackprovided to the patient, for example, can include information associatedwith repetitions during one or more rehabilitation sessions, and time ofday and duration of use, which may be derived from the BCI/assist device102. Further, information associated with changes that may occur in thepatient's brain physiology can be measured, documented, and presented(e.g., in the form of a graphic representation showing increased ordecreased presence of signals associated with the performance of a taskor in signals not associated with the task but associated with arehabilitation outcome). For example, for a specific rehabilitationsession, the BCI/assist device 102 may record the number of repetitionsthat the patient has done of a particular finger movement, and displaythat for the patient on the display device 106. The BCI/assist device102 may also display suggested exercises to the patient. In addition,the BCI/assist device 102 may also display a measure of force that hadto be applied to the fingers to aid in the intended movement. If, forexample, less and less force is being required to assist in the intendedmovement, this may indicate to the patient that progress is beingachieved by the rehabilitation effort. The BCI/assist device 102 mayalso display, for example at the end of a rehabilitation session, asummary report of all of the exercises that were performed during therehabilitation session, and in addition a general assessment of thepatient's progress toward certain goals with the rehabilitation effort.

The system 100 shown in FIG. 1A also enables remote monitoring of thepatient's rehabilitation efforts and progress. For example, the portablerehabilitation system 101 may periodically send reports via network 130to the central rehabilitation and compliance system 120. The reports mayindicate, for example, compliance information, namely, whether or notthe patient has carried out required or suggested rehabilitationsessions. In addition, the reports provided to the central system 120may be reviewed by a health care provider or other rehabilitationspecialist to see what if any progress is being made with therehabilitation effort, and provide instructions for future therapysessions, feedback, and perhaps encouragement to the patient whereappropriate, as indicated by Arrow C in FIG. 1A. In someimplementations, information included in reports from multiple patientsmay be anonym ized and aggregated to identify factors and trends whichmay generally lead to improved rehabilitation results for patients. Byanalyzing overall device usage statistics (e.g., time of use, number ofrepetitions, etc.) and patient characteristics (e.g., type ofimpairment, age, etc.), for example, the central rehabilitationmanagement and compliance system 120 may identify groups of patients whomay generally benefit from particular types of therapy. For example, thesystem 120 may determine that a patient (e.g., a stroke patient of acertain age) may benefit from a particular type of therapy session(e.g., a session including a certain number of repetitions at a certaintime of the day), based on the progress of similar patients (e.g., otherstroke patients of a similar age) having conducted similar therapysessions. Health care provider feedback and therapy session instructionsmay be provided to the patient, for example, on the display device 106of the BCI/assist device 102 at the beginning of the patient's nextrehabilitation session.

Referring now to FIG. 2, there is shown a generalized block diagram of abrain-controlled body movement assist system 200. This block diagram ofFIG. 2 describes not only the example system 100 shown in FIG. 1A, butalso other embodiments of brain-controlled body movement assistancesystems, for example, systems for the control of other body movements(e.g., arm, shoulder, elbow, wrist, hand, leg, knee, ankle, foot, etc.),and systems that use different types of brain signal acquisition systemsother than the EEG brain signals as shown in the FIG. 1A implementation(e.g., implantable electrodes).

As shown in FIG. 2, the brain-controlled body movement assist system 200includes: (i) a body-worn, and thus portable, BCI movement assistancesystem 201, and (ii) a central management computing system 220. Thebody-worn BCI movement assistance system 201 includes two maincomponents: (i) a brain signal acquisition system 212, and (ii) abody-worn BCI and body movement assist device (BCI/assist device) 202.The central management computing system 220 may be used in set-up andon-going operation of the body-worn BCI movement assistance system 201,and may be located at a location that is remote of the patient, forexample, at a healthcare facility or the facilities of some other typeof services provider.

Generally, the brain signal acquisition system 212 acquires brainsignals, performs low-level signal processing, and transmits the brainsignals for receipt by the BCI/assist device 202. The brain signals areacquired by the acquisition system 212 using a number of arrangedelectrodes 214 that are part of the acquisition system 212. As discussedpreviously, these electrodes may be EEG surface electrodes orimplantable electrodes (for example, ECOG electrodes or “point-style”electrodes). The acquired neural signals, for example, may also includemagneto encephalography (MEG) signals, mu rhythm signals, beta rhythmsignals, low gamma rhythm signals, high gamma rhythm signals, actionpotential firing, and the like. The brain signal acquisition system 212also includes processing circuitry 216 to perform the low-levelprocessing and formatting of brain signal information for transmissionto the BCI/assist device 202, and a connection interface 252 to enablethat transmission. The connection for transmission between the brainsignal acquisition 202 and the body-worn BCI assistance device 202 maybe wireless or hard-wired, and thus the connection interface 252 wouldbe adapted accordingly to enable the wireless or hard-wiredtransmissions. For example, the connection interface 252 may include USBdrivers, Bluetooth drivers, or some other wireless or hard-wiredtransmission protocol interface mechanisms and circuitry.

As mentioned, the body-worn BCI and body movement assist device(BCI/assist device) 202 includes two main components, (i) a BCIcomponent 204, and (ii) a body movement assistance component 208operably connected to the BCI component 204. The BCI component 204generally includes the BCI processing capability and is adapted to beworn on a user (e.g., on the user's forearm as in the FIG. 1A example orsome other body part in other implementations). The body movementassistance component 208 is operably connected to the BCI component 204,and also is adapted to be worn by the user (e.g., on a user's hand as inthe FIG. 1A example or some other body part to be moved in otherimplementations).

The BCI component 204 includes the processing and control circuitry tooperate the BCI/assist device 202 in training modes, operational modes(e.g., rehabilitation sessions), calibration modes, and communicationsmodes. As such, the BCI component 204 includes one or more processingunits such as a central processor unit (CPU) component 256, volatilememory 258 such as random access memory (RAM), and non-volatile memory260 such as read-only memory (ROM) and/or various forms of programmableread-only memory (PROM) for the storage of software or firmware programsand operating parameters that may be periodically updated. The BCIcomponent 204 may also include one or more of the following additionalhardware components: (i) one or more batteries 286 to enable theBCI/assist device 202 to be portable (the batteries 286 can providepower to the various components of the device 202, and may be rechargedvia an adapter or charging device (not shown here)), (ii) visual outputdisplay equipment 206 including visual displays and related displaydrivers and circuitry, (iii) user input devices 292 such as on/off andother buttons or touch-screen displays to enable manual user input, (iv)audio output equipment 294 to provide audio commands, information andprompts to the user, (v) audio input equipment 296 such as a microphoneto receive audio input from the user, and (vi) connection interfaces 250to enable communication between the BCI component 204 and the brainsignal acquisition system 212 for example to receive wirelessly orhard-wired transmitted neural signals 240, and also between the BCIcomponent 204 and the central system 220 via network 230.

As mentioned briefly above, the BCI assist device 202 can includevarious components for providing information to and receiving input froma user. The visual output display equipment 206, for example, may be aregular or touch screen display for providing visual prompts (e.g.,graphics, instructions, etc.) or other sorts of information to the userand/or for receiving user input. The input devices 292, for example, mayinclude one or more buttons for controlling (e.g., pausing, poweringon/off, sending data, receiving data, changing modes, etc.) theBCI/assist device 202. For example, the input devices 292 (e.g.,buttons) may serve as soft keys alongside the display equipment 206and/or may be situated away from the display equipment 206. The audiooutput equipment 294 (e.g., speakers), for example, may be used forproviding auditory prompts (e.g., live or recorded spoken instructions,tones indicating success or error conditions, etc.). The audio inputequipment 296 (e.g., microphone), for example, may be used for receivingspoken input from the user (e.g., voice controls) and/or may serve withthe audio output equipment 294 for conducting a live communicationsession with a remote technician.

In terms of software and/or firmware programs, the BCI component 204 mayinclude various programs that are stored in non-volatile memory 260 thatinclude executable program instructions that are executed by the CPU 256to carry out the various processing functions. This may include one ormore of the following program modules: (i) a neural signal interpreter270 for interpreting neural signals received from the brain signalacquisition system 212, and specifically determine whether thosereceived signals are indicative of a user intention to perform certainpredefined body movements which will be assisted by the body movementassistance component 208; (ii) a device control module 272 for providingcontrol signals to the body movement assistance component 208 to actuatemovement; (iii) a training mode module 274 for carrying out the trainingprocesses; (iv) an operational mode module 278 for carrying out theoperation of the BCI/assist device 202 in normal operation, for example,in a rehabilitation session, (v) a calibration mode module 276 forcarrying out the operations calibration processes, and (vi) acommunications module 279 for carrying out communications processesbetween the BCI/assist device 202 and the central management system 220.

The non-volatile memory 260 may also include information storage areasfor operational parameter settings or other input information usedduring the operation of the BCI component 204. The settings and otherinput information may be input by a user, or may be transmitted to theBCI component 204 from the central system 220. These information storageareas may include one or more of the following: (i) device parametersetting storage 262 for storing various operational parameter settingsthat may be, for example, selected by a user or selected and provided bythe central management system 220, (ii) user intention informationstorage 264 for storing one or more sets of previously ascertained brainsignals, each set being indicative of a user intention to perform adifferent body movement, and specifically movements that are assisted bythe movement assistance component 208 (this intention information beingfor use by the neural signal interpreter program 270), (iii) calibrationdata storage 266 for collected calibration data including brain signalinformation that is collected during a calibration session, and whichmay be retrieved and sent by the BCI component 204 to the central system220 for evaluation, (iv) body motion range parameter settings 268 (whichmay be used by the device control module 272) comprising parametersettings that dictate a range of motion by the assistance component 208(for example, to what extent will a finger be flexed and extended), and(v) usage information storage 269 wherein information regarding theusage of the wearable BCI/assist device 202 by the user may be stored,for example, how many times the device has been used, for how long,when, and what the results of each usage session were (which usageinformation may be retrieved and sent by the BCI/assist device 202 tothe central management system 220).

The movement assistance component 208 operates under the control of theBCI component 204, and can include various components to assist in bodymovement (e.g., an external robotic assist device, a prosthetic device,a functional electrical stimulation (FES) device, etc.). For example,the movement assistance component 208 in the FIG. 2 example includes oneor more sensors 280, tactile devices 281, motors 282, electricalstimulators 283, and movable components 284 that may be fixed to thebody part. The sensors 280, for example, may be used to detect theamount of force applied to the body part in order to assist in themovement of the body part and/or to detect the position of the moveablecomponents 284. Such force detectors may provide information as towhether the patient is effectively moving the body part on the patient'sown, and if not, how much assistance was needed in order to effectuatethe body movement, and is the patient's motor control such that thepatient is resisting the movement without intending that. The positiondetectors may be used, for example, to tell the BCI component 204 thatthe fingers are now fully flexed, fully extended, or at someintermediate position. Information collected by the sensors 280 can beprovided to the device control module 272, the training mode module 274,the calibration mode module 276, and the operational mode module 278.

The tactile feedback devices 281, for example, can provide tactilefeedback (e.g., vibrotactile feedback) to a user in association with aprompt and/or in association with an identified user intention. In someimplementations, to prompt the user to move a body part (e.g., a hand),a tactile device may operate (e.g., vibrate), alone or in combinationwith other sorts of prompt mechanisms (e.g., visual and/or acoustic).Similarly, to indicate to the user that an intention to move a body parthas been identified, in some implementations a tactile device mayoperate (e.g., vibrate), alone or in combination with other feedbackmechanisms (e.g., visual and/or acoustic).

The motors 282, for example, may include rotary, servo, and/or linearmotors for driving gears, pistons, and the like. The device controlmodule 272 executed by the central processing unit 256, for example, canprovide signals for controlling the motors 282. The movable components284 can be coupled to and moved by the motors 282, for example, and caninclude one or more mechanisms for guiding or assisting the movement ofa corresponding body part.

The electrical stimulators 283, for example, can use electrical currentsto activate the muscles or nerves of a device user's affected body part.For example, upon identifying the user's intention to move a body part(e.g., a hand), the electrical stimulators 283 can deliver electricalcurrent to the body part, thus facilitating movement. In someimplementations, electrical stimulation of body parts may be providedalone or in combination with mechanical mechanisms for guiding orassisting the body parts.

The central management computing system 220, for example, can includeone or more computing devices configured to receive information from theBCI/assist device 202 (and the BCI component 204 in particular), toexecute one or more applications for processing, analyzing, and trackingthe data, and to provide operation and configuration data to theBCI/assist device 202. For example, the central system 220 can executecomputer application code associated with a device usage analyzer 222and a rehabilitation management module 224. The device usage analyzer222, for example, can be used by a technician for analyzing informationreceived by the BCI/assist device 202 and for determining operationinstructions and parameters to be used by the device. The rehabilitationmanagement module 224, for example, can be used by the technician fortracking a device user's progress over time, and for configuring theBCI/assist device 202. In some implementations, the central system 220may be similar to the central system 120 described above with respect toFIG. 1A.

The wearable BCI/assist device 202, the acquisition system 212, and thecentral system 220 can each include a connection interface (e.g.,connection interfaces 250, 252, and 254, respectively) for receivingdata from and providing data to other devices through wired and/orwireless connections. For example, the connection interfaces 250, 252,and 254 may include USB drivers, Bluetooth drivers, WiFi drivers, and/ormobile data connection drivers, such as 3G drivers, 4G LTE drivers, and4G WiMAX drivers. The connection interface 250 of the BCI/assist device202, for example, can be configured to receive neural signal data 240from the connection interface 252 of the brain signal acquisition system212. The connection interfaces 250 and 254, for example, can beconfigured to send and receive data between the BCI/assist device 202and the central system 220 through the network 230. In someimplementations, the network 230 may similar to the network 130described above with respect to FIG. 1A.

The system 200 may additionally include a user computing device 210,such as a laptop computer, a desktop computer, a smartphone, a tabletcomputing device, a personal digital assistant (PDA), and/or a mediacomputing device. The user computing device 210 may be located at ornear a location where the BCI/assist device 202 is stored and used, suchas at a user's home. The user computing device 210 may communicate withthe BCI/assist device 202, such as through a local area network, and mayobtain rehabilitation data (e.g., log of rehabilitation sessions,summary of repetitions performed, duration of use, and progress along arehabilitation schedule) from the use of the BCI/assist device 202. Theuser computing device 210 can present the rehabilitation data through auser interface that may be easier to use and interact with than a userinterface provided through the display 206 of the BCI/assist device 202.Additionally, the user computing device 210 can communicate with thecentral management computing system 202 through the network 230 to viewrehabilitation data. For example, the user computing device 210 caninclude one or more applications (e.g., web browser) that mayauthenticate the user associated with the user computing device 210(e.g., login) and that may provide access to rehabilitation data thathas been provided by the BCI/assist device 202 to the central managementcomputer system 220.

FIGS. 3-7 show more detail of the BCI/assist device 102 shown in FIG.1A. Specifically, FIG. 3 is a top view of the device 102, FIG. 4 is athumb-side view of the device 102, FIG. 5 is a bottom view, and FIG. 6is a distal end view. FIGS. 7A and 7B show the device 102 being worn bya patient's forearm and hand, with the patient's hand being shownextended in FIG. 7A and closed in FIG. 7B. In general, the BCI/assistdevice 102 is sized and adapted to be positioned on top of a user's handand forearm, with the user's fingertips exposed to allow tactilefeedback. The BCI/assist device 102 may be made of durable, lightweightmaterials (e.g., plastic), and may be constructed using techniques suchas factory-based machining or injection molding, factory-based oron-site 3D printing techniques, and/or other suitable manufacturingtechniques.

Referring to FIGS. 3-7, the wearable BCI/assist device 102 includes aBCI component 104 and a body movement assistance component 108 operablyconnected to the BCI component 104 by way of a mechanical couplingmechanism (hinge) 310 and electrical connections contained within themechanism coupling mechanism 310. The BCI component 104 is adapted andconfigured to be attached to the patient's forearm. The body movementassistance component 108 is adapted and configured to be worn generallyby, and specifically on top of, the patient's hand (and in that sense,may be referred to as a glove). In general, the BCI/assist device 102may be compact, lightweight, and with a low profile, such that thedevice 102 does not interfere with user activities. In someimplementations, the BCI/assist device 102 may be modified according toa patient's physical deficit. As an example, if the patient hasdifficulty internally rotating or pronating the arm, the BCI component104 (e.g., including a view screen) may be placed at a beveled angle, orat the side of the construct, reducing the need for rotation of the arm.

The BCI component 104 includes a housing 304 that has a generallyrectangular box shape, wherein the housing 304 forms a chamber forhousing the various internal components of the BCI component 104 (forexample, the components of the BCI component 204 shown in FIG. 2). TheBCI component housing 304 is sized such that it can be worn on theforearm of the patient. For example, the housing 304 may have a length(from proximal end 340 to distal end 342) of about six inches and awidth (from the thumb side 344 of the housing 304 to the pinkie fingerside 346 of the housing 304) of about three inches. The housing 304includes a bottom panel 350, a top panel 352, a proximal end panel 354(that is, the end positioned closest to the patient's shoulder), adistal end panel 356 (that is, the end positioned closest to thepatient's hand), and two side panels 358 and 359 (namely, a thumb-sidepanel 358 and a pinkie finger side panel 359). These six panels 350,352, 354, 356, 358 and 359 form the internal chamber that houses theinternal components of the BCI component 104.

As shown best in FIG. 3, the top panel 352 of the housing 304 containsthe display device 106. The display device 106 has a screen that isnearly as large as the top panel 352, or in other words, covers nearlythe entire top surface of the BCI component 104. This display device 106provides visual displays that can be easily viewed by the patient, owingto the positioning of the display device 106 when the BCI component 104is worn as intended on the patient's forearm.

As shown best in FIGS. 4-6, the bottom panel 350 of the housing 304rests on, and is secured to, a forearm bearing structure 370, theunderside of which has a bearing surface 372 that generally conforms tothe shape of the patient's forearm so that the BCI component 104 canrest securely on the patient's forearm. As such, the bearing surface 372is generally straight in a longitudinal plane (as shown in FIGS. 4 and5) and generally convex in an axial plane perpendicular to the length ofthe BCI component housing 304 (as shown in FIG. 6). The BCI component104 also includes a flexible strap 330 so that the BCI component 104 canbe strapped in place on the patient's forearm. This strap may be about11-12 inches in length, and may have attachment mechanisms on each end(e.g., Velcro), wherein a first end 332 of the strap 330 is attachableto an outer surface of the thumb-side housing panel 358 and a second,opposite end 334 of the strap 330 is attachable to an outer surface ofthe pinkie finger side housing panel 359 (as shown in FIGS. 7A and 7B).

The body movement assistance component 108 (e.g., a component configuredto be worn on a patient's right hand) can include a pair of finger groupmovement mechanisms 312 a and 312 b. The finger group movement mechanism312 a is attached to a finger group support mechanism 314 a, which inturn can support a patient's index and middle fingers. Similarly, thefinger group movement mechanism 312 b is attached to a finger groupsupport mechanism 314 b, which in turn can support the patient's ringand pinky fingers. Each of the finger group movement mechanisms 312 aand 312 b in the present example has one active degree of freedom (e.g.,flexure at the base) and two passive degrees of freedom (pad rotationand translation) and is connected to the body movement assistancecomponent 108 by a respective finger group joint mechanism 314 a and 314b. Each of the finger group joint mechanisms 314 a and 314 b, forexample, can allow a finger joint range of motion ranging from zerodegrees to about seventy degrees of flexion, and can include amechanical stop to prevent finger hyperextension or bowing beyond zerodegrees of extension. Although depicted as two finger group movementmechanisms 312 a-b and two finger group support mechanisms 314 a-b,other numbers and/or configurations of movement and support mechanismsare also possible. For example, four movement and support mechanisms maybe used such that each movement mechanism corresponds to one of thepatient's fingers. In some implementations, additional active and/orpassive degrees of freedom may be added to each finger mechanism (e.g.metacarpophalangeal (MCP) yaw, MCP rotate, proximal interphalangeal(PIP) rotate, and distal interphalangeal (DIP) rotate).

The finger group support mechanisms 314 a-b are slidably affixed to thefinger group movement mechanisms 312 a-b so as to slide longitudinallyalong the group movement mechanisms 312 a-b. As depicted in FIG. 4, thegroup support mechanisms 314 a includes a first portion 315 a that isslidably affixed to the finger group mechanism 312 a and a secondportion 315 b that is shaped and sized to support one or more of thepatient's fingers and that is rotatably connected to the first portion315 a. The first portion 315 a includes a hole that extendslongitudinally through a front and back face of the first portion 315 a,and that is shaped and sized to conform to the transverse shape and sizeof the group movement mechanism 312 a. The hole in the first portion 315a may be sized and shaped to have a loose fit with the top and bottomsurfaces of the finger group mechanism 312 a so that the finger groupsupport mechanism 314 a has at least a threshold and limited degree ofrotation (e.g., between 1 and 10 degrees) along a lateral axis of thegroup movement mechanism 312 a. Such a limited degree of rotation forthe finger group support mechanism 314 a relative to a lateral axis ofthe group movement mechanism 312 a can allow for variable movement of apatient's fingers outside of the specific range of motion defined by thefinger group mechanism 312 a. Other configurations for the first portion315 a of the group support mechanism 314 a are also possible, such asthrough the use of brackets that are located on a top surface of thefirst portion 315 a that slidably affix to tracks extendinglongitudinally along the sidewalls of the group movement mechanism 312a. As depicted in FIG. 4, the group movement mechanism 312 a includes anenlargement at its distal end so as to stop the group support mechanismfrom sliding off of the longitudinal section of the group movementmechanism 312 a.

The second portion 315 b of the group support mechanism 314 a is shapedand sized to fit one or more of a patient's fingers. In the depictedexamples, the second portion 315 b includes a curved surface that isshaped and sized to conform to the top of a patient's index and middlefingers. The second portion 315 b can additionally include a mechanismto secure the group support mechanism 314 a to the patient's fingers,such as the adjustable strap 332 a depicted in FIGS. 7A-B. The secondportion 315 b can be connected to the first portion 315 a in a mannerthat allows the second portion 315 b to pivot along one or more axesrelative to the first portion 315 a. For instance, the second portion315 b is depicted in FIG. 4 as being hinged at the bottom of the firstportion 315 a so as to allow for the second portion 315 a to pivot alonga lateral axis relative to the group movement mechanism 312 a. Thepivoting of the second portion 315 b relative to the first portion 315 acan be limited (e.g., between 1 and 15 degrees). In someimplementations, the second portion 315 b is affixed to the firstportion 315 a in a manner that does not permit the second portion 315 bto pivot or rotate.

The proximate ends of the finger group movement mechanisms 312 a-b arerotatably affixed to finger group joint mechanisms 316 a-b which permitthe finger group movement mechanisms 312 a-b to pivot along one or moregenerally lateral axes relative to the body of the BCI/assist device102. The finger group movement mechanisms 312 a-b may have a limiteddegrees of rotation based on the connections with the finger group jointmechanisms 316 a-b, such as rotation ranging from a first position inwhich the finger group movement mechanisms 312 a-b extends along a firstplane that is generally parallel to the body of the BCI/assist device102 to a second position in which the finger group movement mechanisms312 a-b extend along a second plane that is generally perpendicular tothe body of the BCI/assist device 102. Other degrees of rotation arealso possible, such as where the second position includes the fingergroup movement mechanisms 312 a-b being at an acute angle relative tothe body of the BCI/assist device 102.

To pivot each of the finger group movement mechanisms 312 a and 312 babout the respective finger group joint mechanisms 316 a and 316 b, themovement mechanisms 312 a and 312 b may each be controlled by arespective finger group position controller 318 a and 318 b. The fingergroup position controllers 318 a and 318 b, for example, can includemotors and position feedback sensors. Thus, in addition to controllingthe movement of supported finger pairs, the finger group positioncontrollers 318 a and 318 b may detect movement and/or levels of forceexerted by the patient's fingers. The finger group position controllers318 a and 318 b can receive power and instructions from componentsincluded in the BCI component 104, for example, and can provide sensordata to the components. For example, the BCI component 104 can receiveand analyze brain signals for a patient from the brain signalacquisition system 112. Based on the analysis of the patient's brainsignals according to the techniques discussed in this document, the BCIcomponent 104 can determine whether the patient demonstrated intent tomove at least a portion of his/her hand through ipsilateral brainsignals and, if such an intent is detected, can provide a signal to oneor more of the finger group position controllers 318 a-b to physicallymove the one or more of the patient's fingers.

Referring now to FIG. 4, a side view of the wearable BCI/assist device102 is shown. The device 102 includes a thumb support mechanism 320which can support the patient's thumb in a fixed position. In someimplementations, the thumb support mechanism 320 may include a hingedcomponent 321 which facilitates donning and removing of the device 102.For example, while the BCI/assist device 102 is being donned by a user,the thumb support mechanism may rotate about the hinged component 321.When the device 102 is worn, for example, the user may lock the hingedcomponent 321. In some implementations, the thumb support mechanism 320may be removable from the BCI/assist device 102. For example, a user mayattach the finger group support mechanisms 314 a and 314 b separatelyfrom the thumb support mechanism 320, and may then attach (e.g., using alocking mechanism) the thumb support mechanism to the device 102. Ahinged and/or removable thumb support mechanism 320, for example, mayfacilitate the donning and removal of the device 102 by patients withlimited hand flexibility. The coupling mechanism 310 which attaches thebody movement assistance component 108 to the BCI component 104 is shownas a hinged component which may allow flexion and extension of thepatient's wrist.

FIGS. 5 and 6 show bottom and front views of the orthotic device,respectively. As shown best in FIG. 6, for example, a hand supportmechanism 360 is shown for attaching a user's hand to the body movementassistance component 108. The hand support mechanism 360, can provide anopening for a user to don and remove the BCI/assist device 102, and canprovide stability for the device while in use. In some implementations,the hand support mechanism 360 may be an adjustable strap that canpermit the BCI/assist device 102 to be donned on the outside of a user'shand, which for a stroke patient may be clasped. Features of theBCI/assist device 102 may provide greater ease of use and operability topatients recovering from various impairments, such as a stroke or atraumatic brain injury. For instance, the hand support mechanism 360being an adjustable strap, the finger group attachment mechanisms 332a-b, described below, being adjustable straps, and the hinged supportcomponent 321 for the thumb support mechanism 320 can permit theBCI/assist device to be donned on the outside of an user's hand firstand then for each of the user's thumb and fingers to be individuallypositioned—in contrast to enclosed and finger and thumb supports whichmay require a user to guide his/her thumb and fingers into the supportsas the device is being positioned on the user's hand.

FIGS. 7A and 7B are perspective diagrams which show the wearableBCI/assist device 102 in use. Referring to FIG. 7A, for example, thedevice 102 is shown as it may be worn by a patient, with the bodymovement assistance component 108 (e.g., a “glove” device) in an openposition. For example, the BCI component 104 may be attached to thepatient's forearm by a forearm attachment mechanism 330 (e.g., anadjustable strap). Similarly, the finger group support mechanisms 314 aand 314 b may be attached to the patient's index and middle fingers, andto the patient's ring and pinky fingers, respectively, by finger groupattachment mechanisms 332 a and 332 b (e.g., adjustable straps). Thepatient's thumb may be supported in a fixed position by the thumbsupport mechanism 320.

Referring to FIG. 7B, for example, BCI/assist device 102 is shown as itmay be worn by a patient, with the body movement assistance component108 (e.g., a “glove” device) in a closed position. For example, each ofthe finger group position controllers 318 a and 318 b can cause therespective finger group movement mechanisms 312 a and 312 b to rotateabout one or more axes defined by the rotatable connections with therespective finger group joint mechanisms 316 a and 316 b. As the fingergroup movement mechanisms 312 a and 312 b actively rotate (e.g., underthe control of the device 102), for example, the respective finger groupsupport mechanisms 314 a and 314 b may each passively slide toward thedistal ends of the finger group movement mechanisms 312 a and 312 b, andmay each passively pivot along a lateral axis relative to theirrespective group movement mechanisms to facilitate movement of eachfinger pair, causing the patient's hand to achieve a standard three jawchuck pincer grip. By combining active and passive mechanisms forfacilitating finger joint movement, for example, construction of theBCI/assist device 102 may be simplified while ensuring that a mechanicalaxis of rotation appropriately controls finger movement.

FIGS. 8A, 8B, 8C and 8D are flowcharts of example methods 800, 820, 840,and 860, for controlling a wearable BCI/assist device. In variousimplementations, the methods 800, 820, 840 and 860 may be performed bythe systems 100, 200, and/or other systems not depicted, and aredescribed below as being performed by the system 200 (shown in FIG. 2).Briefly, the method 800 includes an overall process for controlling aBCI/assist device including training, operation, and calibration modes,and including various conditions for transitioning between the modes.The example methods 820, 840 and 860 include processes for controllingthe BCI/assist device while in training, general operation, andcalibration modes, respectively.

Referring to FIG. 8A, the example method 800 for controlling aBCI/assist device starts at step 802, in which a determination is madeof whether user intention information (e.g., brain signal features whichmay be used to control a BCI/assist device) has previously been saved.For example, when a user of the BCI/assist device 202 (shown in FIG. 2)powers the device on, the BCI component 202 can use the CPU 256 toexecute program instructions for carrying out various processingfunctions. In general, when powering on, the BCI component 202 canreference the user intention information storage 264 (e.g., a datastorage area for storing previously ascertained brain signals indicativeof user intentions to perform various body movements) which may bestored in the device's non-volatile memory 260 to determine whether thedevice has been configured. If user intention information has notpreviously been saved (e.g., upon initial use, after a device memorywipe, etc.), for example, the BCI/assist device 202 can enter a trainingmode at step 804.

In general, during a training mode (step 804), the BCI/assist device 202can prompt/cue a user (e.g., a patient) to perform various actions(e.g., moving one or both hands, holding one or both hands still,resting, etc.). To prompt the user, for example, the BCI component 204can provide visual prompts (e.g., through the display equipment 206)and/or acoustic prompts (e.g., through the audio output equipment 294).As the user performs a prompted action, the BCI/assist device 202 canreceive the user's neural signal data 240 from the brain signalacquisition system 212, for example. The neural signal data 240 may beused for identifying user intention information (e.g., control features)that will subsequently be used by the BCI/assist device 202 in a generaloperation mode.

After the training mode process has been performed, the BCI/assistdevice 202 may enter a general operation mode at step 806. In general,during the general operation mode (step 806), the brain signalacquisition system 212 can collect neural signals from the electrodes214, and can provide neural signal data 240 to the BCI/assist device202. The BCI component 204 can use the neural signal interpreter 270,for example, to determine movement intentions of the user, based on thesaved user intention information 264. For example, the neural signalinterpreter 270 can identify one or more features of the neural signaldata 240 (e.g., electrode location, frequency, amplitude, etc.) thatcorrespond with a set of features that have been previously correlatedwith a particular body movement intention. The BCI component 204 canthen reference the body motion range parameter settings 268 to identifya range of motion for the body movement assistance component 208 that isassociated with the movement intentions of the user (e.g., to open orclose a hand). Using the motion range parameter settings 268, forexample, the device control module 272 can drive one or more of themotors 282, thereby moving one or more of the movable components 284 asuitable distance.

The operation mode 806 can include one or more different types ofsub-operations, such as a cued mode of operation (807 a) and/or a freemode of operation (807 b). During the cued mode of operation (807 a), apatient can be cued/prompted to perform specific actions, such as movinga particular part of his/her body and/or resting for a period of time.The cues/prompts that are provided during the cued mode of operation(807 a) can be visually output on a display and/or audibly output usingone or more speakers. The cued mode of operation (807 a) can persist forat least a threshold period of time and/or at least a threshold numberof actions when the operation mode 806 is entered so as to ensure aminimum amount of rehabilitation time and/or repetitions for thepatient. The parameters of the cued mode of operation (e.g., length oftime, number of repetitions) may be predetermined (e.g., set by atechnician) and/or may be dynamically determined based on the patient'sprogress to date and a prescribed therapy schedule for the patient.

The operation mode 806 can additionally and/or alternatively include thefree mode of operation (807 b) which can allow a patient to freelyoperate a BCI/assist device without specific cues or prompts. Forexample, during the free mode of operation (807 b) a patient can provideinput through the brain signal acquisition system 212 to cause theBCI/assist device 202 to perform various actions, such as opening and/orclosing the BCI/assist device described with regard to FIGS. 3-7. Freemode can permit a patient to use the BCI/assist device 202 to performdaily tasks in the context of the patient's daily life, which, asdescribed above, can increase the effectiveness of rehabilitation forthe patient. A patient may have to periodically (e.g., twice a day, oncea day, once every two days, weekly) complete the cued mode of operation(807 a) before being permitted to enter the free mode of operation (807b).

If, at step 802, a determination is made that user intention information264 has previously been saved, for example, the BCI/assist device 202can enter a calibration mode at step 810. In general, during thecalibration mode (step 810), the user's neural signal data 240 can bereceived from the brain signal acquisition system 212, and can be usedto generate calibration data 266, which can be used to define aphysiological baseline from which relative control features (e.g., setsof previously ascertained brain signals indicative of a user intentionto perform particular body movements) can be identified. At step 812, adetermination is made of whether the user intention informationidentified during the training mode (step 804) matches the informationidentified during the calibration mode (step 810). If the user intentioninformation 264 identified during the training mode matches the userintention information identified from the calibration data 266, forexample, the BCI/assist device 202 can enter the general operation modeat step 806. If the user intention information 264 identified during thetraining mode does not match the user intention information identifiedfrom the calibration data 266, for example, a technician (e.g., a healthcare provider, a physical therapist, etc.) can be notified at step 814.

In some implementations, a BCI/assist device can enter a calibrationmode from a general operation mode. For example, as shown by arrow 808,the BCI/assist device 202 can enter the calibration mode (step 810)directly from the general operation mode (step 806). While using theBCI/assist device 202 in general operation mode, for example, a deviceuser may interact with the display equipment 206 (e.g., a touch screen)and/or one or more input devices 292 (e.g., buttons) to reset or restartthe device, effectively switching the device to calibration mode. Suchan action may be performed by the user to troubleshoot the device if itperforms inadequately in general operation mode, for example.

Referring to FIG. 8B, the example method 820 for controlling aBCI/assist device while in training mode (e.g., step 804 of the method800) is depicted. To perform the method 820, for example, the BCI/assistdevice 202 (shown in FIG. 2) can use the CPU 256 to execute computerapplication code associated with the training mode module 274. Ingeneral, the method 820 includes steps for providing prompts to a user,collecting neural signal data, identifying control features based on theneural signal data, and saving the control features for subsequent use.

The method 820 starts at step 822, by providing a prompt to a user. Forexample, the BCI/assist device 202 (shown in FIG. 2) can provide visualprompts (e.g., through the display equipment 206) and/or acousticprompts (e.g., through the audio output equipment 294), and/or tactileprompts (e.g., through the tactile devices 281) to direct the deviceuser through a series of actions. In general, prompts may includeinstructions for moving various body parts (e.g., impaired and/orunimpaired body parts) and for holding the body parts still. Forexample, the user may be prompted to open or close one or both hands,hold one or both hands still, and so forth.

As the prompt is presented and while the user attempts the promptedaction, neural signal data can be collected at step 824. For example,the brain signal acquisition system 212 can use the electrodes 214 tocollect to collect the user's brain signals as the user perceives theprompted instructions, plans to execute the instructions, and attemptsthe instructed movement. Neural signal data 240 (e.g., electrodelocation, frequency, amplitude, etc.) can be provided by the acquisitionsystem 212 to the BCI/assist device 202 through the respectiveconnection interfaces 252 and 250. As the BCI/assist device 202 receivesthe neural signal data 240, for example, the device can track the datarelative to the time of prompt presentation and can correlate and storethe data using the volatile memory 258 and/or the non-volatile memory260.

A training mode data collection process including steps 822 (providing aprompt to a user) and 824 (collecting neural signal data) may beperformed iteratively. For example, a predetermined series of promptscan be provided, and corresponding neural signal data can be collectedfor each of the prompts in the series. In some implementations, atraining mode data collection process may be performed for apredetermined series of prompts and/or a predetermined period of time(e.g., an hour, thirty minutes, ten minutes, etc.). In someimplementations, prompts may be provided in a random series. Forexample, each prompt in a series of prompts can be randomly cued suchthat a user's attention to the prompts is encouraged, and that responsesmay be distinguished from prompts. In some implementations, a series ofprompts may be adaptively presented, based on previously received signaldata. For example, if the BCI/assist device 102 does not receive enoughdata to distinguish an ipsi versus contra signal, the device cancontinue to cue and prompt until one or more signals becomestatistically significant. As another example, prompts for increasinglycomplex movements may be presented during the series. For example, oncethe BCI/assist device 102 is able to distinguish ipsi hand from contrahand, it may then provide prompts for distinguishing ipsi thumb againstcontra thumb, then ipsi index finger versus contra index finger, and soforth.

User intention information can be identified at step 826. When thetraining mode data collection process is completed, for example, theBCI/assist device 202 can provide collected data to the centralmanagement computing system 220 through the network 230, using thecommunications module 279, and using the connection interfaces 250 and254, respectively. As another example, the BCI/assist device 202 can usethe communications module 279 to continually provide data to the centralsystem 220, as the data is collected. As another example, the centralsystem 220 can periodically request (e.g., poll) the BCI/assist device202 for data through a web-based interface or another suitabletechnique. Upon receiving the collected data, for example, the centralsystem 220 can provide the data to the device usage analyzer 222. Forexample, the device usage analyzer 222 can pre-process the promptpresentation and neural signal data collected during the training modedata collection process to reduce noise and to assist a technician inselecting optimal montage and weighting attributes (e.g., controlfeatures) for use by the BCI/assist device 202 during a generaloperation mode. In some implementations, the weighting attributes areautomatically selected by the device usage analyzer 222 and withoutdirect input from a technician.

User intention information can be saved at step 828. For example, atechnician can use the rehabilitation management module 224 to configurethe BCI/assist device 202. Device configuration data may include montageand weighting attributes (e.g., control features), and may include otherdevice usage and rehabilitation session parameters. For example, deviceusage and rehabilitation session parameters may include informationrelated to assisted body parts (e.g., a body part's range of motion,whether a BCI/assist device is to assist a right or left hand, etc.),default operating states (e.g., whether a glove is to be in a normallyopen or closed position), rehabilitation sessions (e.g., types ofmotions to be performed, target numbers of motions to be performed persession or per day, etc.), device control parameters (e.g., an amount oftime a BCI/assist device may be idle before powering off, an amount oftime after which a BCI/assist device is to be retrained or recalibrated,a frequency for sending device GPS location information to a remotesystem, device memory reset instructions, etc.), and other suitableparameters. Such device usage and/or rehabilitation session informationcan be used in a variety of ways, such as to enhance the compliancerequirements for a patient with a treatment regime (e.g., increaseperiod and/or number of repetitions for cued control mode beforeentering free mode of operation) and/or to increase the complexity of atreatment regime for a patient with documented good performance. Afterthe montage and weighting attributes and other parameters are definedfor use by the BCI/assist device 202, for example, the centralmanagement system 220 can provide configuration updates to the devicethrough the network 230, using the connection interfaces 254 and 250,and using the communications module 279. Upon receiving theconfiguration updates, for example, the BCI component 204 can save theupdates in non-volatile memory 260 as user intention information 264,motion parameters 268, and device parameters 262.

Referring to FIG. 8C, the example method 840 for controlling aBCI/assist device while in general operation mode (e.g., step 806 of themethod 800) is depicted. To perform the method 840, for example, the BCIcomponent 204 (shown in FIG. 2) can use the CPU 256 to execute computerapplication code associated with the operational mode module 278. Ingeneral, the method 840 includes steps for optionally prompting a userto perform an action, receiving brain signals from a signal acquisitionsystem, determining an intention of the user to move a body part (basedon previously identified control features), displaying informationindicative of the determined intention, moving a body movementassistance component in accordance with the determined intention,displaying information indicative of the device movement, and storingdata related to the device movement.

The method 840 starts at step 841, by optionally providing a prompt to auser. As described above, operation modes may include a cued mode ofoperation (807 a) and a free mode of operation (807 b). During the freemode of operation (807 b), for example, a patient can use the BCI/assistdevice 202 to perform tasks in the context of the patient's daily life,without receiving prompts to perform particular actions. During the cuedmode of operation (807 a), for example, a patient can be cued orprompted to perform specific actions as part of a therapy session. Forexample, during the cued mode of operation, the BCI/assist device 202(shown in FIG. 2) can provide visual prompts (e.g., through the displayequipment 206) and/or acoustic prompts (e.g., through the audio outputequipment 294) and/or tactile prompts (e.g., through the tactile devices281) to direct the device user through a series of actions. As describedbelow, in some implementations the patient may interact with a userinterface to indicate whether a BCI/assist device is to operate in acued mode or a free mode.

At step 842, the BCI/assist device 202 can receive brain signals fromthe signal acquisition system 212. For example, the brain signalacquisition system 212 (e.g., a headset) can use the electrodes 214 tocollect the user's brain signals, and neural signal data 240 (e.g.,electrode location, frequency, amplitude, etc.) can be provided by theacquisition system 212 to the BCI/assist device 202 through therespective connection interfaces 252 and 250. Upon receiving the neuralsignal data 240, for example, the BCI component 204 can determine atstep 844 whether one or more control features are identified in thebrain signals that are indicative of a user intention to perform apredefined body movement (e.g., an opening or closing of a hand). Forexample, the BCI component 204 can use the neural signal interpreter 270to analyze the neural signal data 240 and to identify corresponding userintention information 264 which had been identified and saved while thedevice previously operated in training mode. In general, analyzing theneural signal data 240 can include signal processing techniques forcorrelating an electrode pattern (i.e., signal frequency and magnitudeat each electrode) and sequence (i.e., progress over a short segment oftime) with a particular intention. If the BCI/assist device 202 does notidentify corresponding intention information, for example, the devicecan continue receiving and analyzing neural signal data 240, and canmonitor the data for signal changes.

When the BCI/assist device 202 identifies one or more control featuresin the received brain signals, at step 846 the device can determine anintention of the user to move a body part, based on the controlfeatures. In general, for each pattern and sequence of brain signalsthat have been identified, a corresponding control signal may beidentified. For example, when the neural signal interpreter 270identifies one or more control features in the neural signal data 240that match one or more of the previously identified and saved userintention information 264, the neural signal interpreter 270 canidentify a user movement intention (e.g., an opening or closing of ahand) associated with the matching control features.

In some implementations, a determination of an intention of the user tomove a body part may be based at least in part on feedback from one ormore device sensors. For example, the BCI/assist device 202 can includepressure sensors at locations of possible contact between the BCI/assistdevice 202 a patient and/or external objects (e.g., objects that theBCI/assist device 202 grabs/holds). Such sensors could be used to ensuresafe operation of the BCI/assist device 202 for both the patient and theenvironment within which the BCI/assist device 202 is being used. Forinstance, pressure sensors could be used to ensure that the forceexerted by the BCI/assist device 202 does not exceed a maximum thresholdlevel and/or so as to minimize spikes in the application of force (e.g.,ensure uniform application of force throughout a task). In anotherexample, the BCI/assist device 202 can use one or more position sensorsthat can detect the presence of parts of a patient's body (e.g.,fingers, hand, joints, and/or muscles). Such position sensors can beused to identify instances when the BCI/assist device 202 is notproperly position on a patient's body and to suggest corrective actionto the patient, so as to ensure safe and comfortable operatingconditions. For example, based on feedback from the sensors 280 (e.g.,pressure and/or joint position sensors), the body movement assistancecomponent 208 can detect possible movement and/or resistance of theuser. Data provided by the sensors 280, for example, may be used inconjunction with movement intentions identified by the neural signalinterpreter 270 to control the BCI/assist device 202.

At step 848, the BCI/assist device 202 can provide feedback indicativeof the user's intention to move a body part. For example, the BCIcomponent 204 can present visual feedback (e.g., using the displayequipment 206) and/or acoustically feedback (e.g., using the audiooutput equipment 294) and/or tactile feedback (e.g., using the tactiledevices 281) related to the intention. In some implementations, thefeedback may include a visually and/or acoustically presented phrase(e.g., “open hand”, “close hand”, etc.). In some implementations, thefeedback may include vibrotactile feedback to a body part (e.g., a handor finger) associated with the intention. In some implementations, thefeedback may include a representation of the user's intention to move abody part to a particular position in a range of possible positionsand/or to move the body part with a particular amount of force or speed.For example, the display 206 can present a graphical representation of ahand in one of a range of positions, ranging from a fully closed fist,to a partially open hand, to a fully open hand. As another example, thedisplay 206 can present one or more numerical values, graphics, colors,or other suitable indicators of position, force, or speed.

At step 850, the BCI/assist device 202 can move in accordance with theuser's intention to move the body part. For example, the device controlmodule 272 can receive user movement intention information from theneural signal interpreter 270 and can reference the body motion rangeparameter settings 268 to determine appropriate corresponding movementsof the body movement assistance component 208. Based on the determinedmovements, for example, the BCI component 204 can use the device controlmodule 272 to drive one or more of the motors 282, thereby moving one ormore of the movable components 284. For example, a glove device (e.g.,the body movement assistance component 108, shown in FIG. 1A) can open,based on the user's intention to open his or her hand, and/or can close,based on the user's intention to close the hand. The motion of the glovedevice, for example, may be limited by a device controller (e.g., thedevice control module 272), based on appropriate joint positions. Insome implementations, the body range parameter settings 268 may beconfigured for a particular user. For example, a distance, speed, and/orforce to be applied to the movable components 284 for a particular typeof movement (e.g., the opening or closing of a hand) may vary betweenusers, and may be tailored for each user by a technician.

At step 852, the BCI/assist device 202 can provide informationindicative of device movement. For example, the BCI component 204 canpresent device movement information visually (e.g., using the displayequipment 206) and/or acoustically (e.g., using the audio outputequipment 294). In some implementations, device movement information mayinclude information indicative of the completion of a particular type ofmovement. For example, a BCI component of an orthotic glove device(e.g., the BCI component 104, shown in FIG. 1A) can present anindication (e.g., visual and/or acoustic) of the completion of a gloveopening, a glove closing, and so forth. In some implementations, devicemovement information may include information indicative of a cumulativenumber of device movements during a session or day. For example, the BCIcomponent 204 can display a target number of movements to be performedby a user per session or per day, and a cumulative number of movementsactually performed by the user.

At step 854, the BCI/assist device 202 can store data related tomovement of the device. For example, upon completion of a particularmovement (e.g., a movement cycle starting at a fully closed gloveposition, proceeding to a fully open glove position, and returning to afully closed glove position), the BCI component 204 can increment acounter associated with the movement, and can store an updated value forthe counter as usage information 269 included in non-volatile memory260. In some implementations, the BCI component 204 may store additionalusage information 269 associated with a completed movement, such as atime of day the movement was completed, an elapsed time to complete themovement, and other related information.

While in general operation mode, for example, the BCI/assist device 202may continually monitor received neural signal data 240 for changes, andmay continually move one or more movable components 284 based onidentified movement intentions. In general, identified movementintentions may be translated to device movement commands about twentytimes per second. System delay during use, for example, may be less thanone hundred and fifty milliseconds between the time of brain signaldetection and device movement. Thus, the BCI/assist device 202 may beused for rehabilitative purposes and may be used in a free control modefor general robotic assistance, thus providing the therapeutic benefitof facilitating a patient's use of an affected body part to accomplishregular tasks in a regular setting (e.g., the patient's home). If thedevice performs inadequately during the general operation mode, forexample, the user (or a technician) may switch the device to calibrationmode.

Referring to FIG. 8D, the example method 860 for controlling aBCI/assist device while in calibration mode (e.g., step 810 of themethod 800) is depicted. To perform the method 860, for example, the BCIcomponent 204 (shown in FIG. 2) can use the CPU 256 to execute computerapplication code associated with the calibration mode module 276. Ingeneral, the method 860 includes steps for providing prompts to a user,collecting neural signal data, identifying intention information basedon the neural signal data, and determining whether the identifiedintention information matches previously identified intentioninformation. Calibration mode may generally be used after the successfulcompletion of a training mode process (e.g., the example method 820),and may define a new baseline physiology to identify an appropriatelevel of control to be used during a subsequent general operation mode(e.g., the example method 840).

The method 860 starts at step 862, by providing a prompt to a user atrest. For example, the BCI component 204 (shown in FIG. 2) can providevisual prompts (e.g., through the display equipment 206) and/or acousticprompts (e.g., through the audio output equipment 294) and/or tactileprompts (e.g., through the tactile devices 281) associated with a seriesof actions. In general, the prompts may be related to the movement orresting of various body parts (e.g., moving one or more hands, holdingone or more hands still, etc.), however, in some implementations, theprompts presented during a calibration mode may include directions formoving and resting only an affected body part. While viewing and/orhearing the prompts, for example, the user may remain at rest—that is,the user perceives but does not attempt to perform the correspondingactions of movement-related prompts during step 862.

As the prompt is presented and while the user remains at rest, neuralsignal data can be collected at step 864. For example, the brain signalacquisition system 212 can use the electrodes 214 to collect to collectthe user's brain signals as the user perceives the promptedinstructions. Neural signal data 240 (e.g., electrode location,frequency, amplitude, etc.) can be provided by the acquisition system212 to the BCI/assist device 202 through the respective connectioninterfaces 252 and 250. As the BCI component 204 receives the neuralsignal data 240, for example, the calibration mode module 276 cangenerate associated calibration data 266. At step 866, the BCI component204 can use the calibration data 266 collected and generated duringsteps 862 and 864 to establish a physiological baseline of the user tobe subsequently used in determining user intent.

A baseline determination process including steps 862 (providing a promptto a user at rest) and 864 (collecting neural signal data) may beperformed iteratively. For example, a series of prompts can be provided,and corresponding neural signal data can be collected for each of theprompts in the series. In some implementations, a baseline determinationprocess may be performed for a predetermined series of prompts and/or apredetermined period of time (e.g., two minutes, a minute, thirtyseconds, etc.).

The method 860 continues at step 868, by providing a task prompt to auser. For example, the BCI component 204 can provide visual and/oracoustic and/or tactile prompts to direct the device user through aseries of actions. In general, task prompts may include instructions formoving various body parts (e.g., impaired and/or unimpaired body parts)and for holding the body parts still. For example, the user may beprompted to continually move one or both hands, to hold one or bothhands still, to not move any parts of the body, and so forth. Examplesof visual prompts that are provided to the user are depicted in FIGS.9A-F, as described below.

As the prompt is presented and while the user attempts to perform theprompted action, neural signal data can be collected at step 870. Forexample, the brain signal acquisition system 212 can use the electrodes214 to collect to collect the user's brain signals as the user perceivesthe prompted instructions, plans to execute the instructions, andattempts the instructed movement. Neural signal data 240 (e.g.,electrode location, frequency, amplitude, etc.) can be provided by theacquisition system 212 to the BCI/assist device 202 through therespective connection interfaces 252 and 250. As the BCI component 202receives the neural signal data 240, for example, the device cangenerate associated calibration data 266.

A calibration mode data collection process including steps 868(providing a task prompt to a user) and 870 (collecting neural signaldata) may be performed iteratively. For example, a series of prompts canbe provided, and corresponding neural signal data can be collected foreach of the prompts in the series. In some implementations, acalibration mode data collection process may be performed for apredetermined series of prompts (e.g., 30 trials, 50 trials, etc.)and/or a predetermined period of time. Intention information can beidentified at step 872. When the calibration mode data collectionprocess is completed, for example, the BCI component 204 can use thecalibration mode module 276 to compare signals collected during thebaseline determination process and during the calibration mode datacollection process. Intention information, for example, can be based onsignals that are statistically significant in terms of electrodelocation, frequency, and amplitude change. At step 874, a determinationis made of whether the intention information previously identifiedduring the training mode matches the intention information identifiedduring the calibration mode. A variety of techniques can be used todetermine whether the intention information from the training mode andthe calibration mode match, such as determining whether signals from thesame electrode and frequency band have the same statisticallysignificant changes. If such similar statistically significant changesare detected, then the intention information from the training mode andthe calibration mode can be determined to match. If the intentioninformation identified during the training mode matches the intentioninformation identified during the calibration mode, for example, theBCI/assist device 202 can proceed to the general operation mode. If theintention information identified during the training mode does not matchthe intention information identified during the calibration mode, forexample, the BCI component 204 can increment a loop counter and candetermine whether the loop counter is over a threshold value (e.g., two,three, four, or another suitable value) at step 876.

If, at step 876, the loop counter is at or under the threshold value,the calibration mode process can be repeated. If, however, the loopcounter is over the threshold value, a technician (e.g., a health careprovider, a physical therapist, etc.) can be notified at step 878. Forexample, the BCI component 204 can provide a visual and/or acousticprompt to the user to contact the technician. As another example, theBCI component 204 can provide notification data to the centralmanagement system 220 through the network 230, using the communicationsmodule 279, and using the connection interfaces 250, and 254,respectively.

While performing any of the example methods 800, 820, 840, or 860, forexample, the BCI/assist device 202 may provide device status andoperation error information to the user. For example, if an operationerror (e.g., faulty communication with the brain signal acquisitionsystem 212 and/or the central system 220, the failure of one or morehardware or software components, etc.) occurs, the BCI component 204 canprovide error information to the user through the display equipment 206.As another example, power status information (e.g., a battery chargelevel, a charging indicator, etc.) can be provided through the display206. In some implementations, operation error detection may includetechniques for providing prompts and providing feedback. During acalibration mode, for example, a prompt can occasionally (andintentionally) be provided, and the BCI/assist device 202 can perform ina manner opposite of what would be expected by a user; such a conditioncan create error signals that may be manifested as a central increase intheta or a P300 response. As another example, a data driven approach canbe used, such that a particular signal (electrode, frequency, amplitude,phase, etc.) may be present when the user's BCI/assist device 202performs an unexpected action. The “error signals”, for example, canthen be used to calibrate or detect need for recalibration if errorsignals (e.g., a number or frequency of error signals) are detectedduring the free use mode. Device status, operation error, and usageinformation (e.g., a history of motions performed by the device user persession or per day, a history of power on/off times, etc.) may beperiodically or continually provided to the central system 220.

Referring now to FIGS. 9A through 9D, there are shown an example seriesof display screens of an instance of a graphical user interface (GUI)for prompting a user (e.g., a patient) during a training mode (e.g.,training mode 804) data collection process (e.g., method 820 describedwith regard to FIG. 8B) and/or during a calibration mode (e.g.,calibration mode 810) data collection process (e.g., method 820described with regard to FIG. 8D). A user interface 900 a may bevisually presented to the user by display equipment included in aBCI/assist device. For example, the user interface 900 a may bepresented by the display device 106 of the BCI/assist device 102 (shownin FIG. 1), or by the visual output display equipment 206 of theBCI/assist device 202 (shown in FIG. 2).

In general, prompts may include instructions to a patient to move and/orrest (not move) impaired and/or unimpaired body parts. While the userresponds to the prompts, brain signal data may be collected and may beused for various purposes, such as for determining whether the patientis a suitable candidate for using a BCI/assist device, for identifyingbrain signals associated with intentions to move body parts, and/or foridentifying a patient's physiological baseline at the beginning of atherapy session. Upon powering on a BCI/assist device, for example, thepatient may be visually and/or acoustically presented with initialinstructions for using the device, such as instructions to remain seatedand relatively still during a screening session or a calibrationsession.

Referring to FIG. 9A, the user interface 900 a includes a mode selectioncontrol 902, a power control 904, and a start control 906. The controls902, 904, and 906, for example, may be touch screen controls, or maycorrespond to physical buttons (e.g., a keypad) of a wearable BCI/assistdevice (e.g., the BCI/assist device 102). In the present example, themode selection control 902 indicates that the BCI/assist device 102 iscurrently in a “cued” mode, and that the patient is to perform variousactions in response to prompts presented by the device. The patient canselect the start control 906, for example, to instruct the BCI/assistdevice 102 to begin presenting a series of prompts associated with atraining session or a calibration session. The patient can select thepower control 904, for example, to turn off the BCI/assist device 102during training or calibration sessions, if desired.

During a device training or calibration session, for example, aBCI/assist device can present information related to the progress of thesession. For example, the user interface 900 a includes a progressindicator 908 for providing information to a patient, indicative of aportion of the session that has been completed relative a portion of thesession that has yet to be completed. The progress indicator 908, forexample, may include numerical information (e.g., a “percentagecomplete”, a “stage X of Y complete”, etc.) and/or graphical information(e.g., a progress bar). As the patient follows the device's promptedinstructions during a training or calibration session, for example, theprogress indicator 908 can be updated on the user interface 900 a sothat the patient may be continually apprised of the session's progress.

The user interface 902 a can include a prompt presentation area 910. Ingeneral, prompts may include visual and/or acoustic cues for a patientto move impaired and/or unimpaired body parts (e.g., hands) individuallyor simultaneously, and may include cues for the patient to rest. Forexample, when prompted to move a hand the patient can move (or imaginemoving) his or her fingers continually−such as by moving (or imaginingto move) each finger of a hand sequentially to touch his or her thumb.In some implementations, each prompt in a series of prompts may bepresented by the BCI/assist device 102 for a predetermined amount oftime (e.g., several seconds), before automatically presenting the nextprompt in the series. For example, a patient may press the start control906 once at the beginning of a training or calibration session, and eachprompt may subsequently be presented by the BCI/assist device 102without further action from the patient. The prompt mayadditionally/alternatively be presented until the prompted action hasbeen performed by the user. For example, the prompt “Right” that isdepicted in FIG. 9A may be presented until the BCI/assist device hasdetected that the patient has complied with the prompt. In anotherexample, the patient may additionally control the presentation timing ofeach prompt in a series of prompts. For instance, a patient may pressthe start control 906 to instruct the BCI/assist device 102 to present afirst prompt (e.g., after a short time delay), the patient may againpress the start control 906 to instruct the BCI/assist device 102 topresent a second prompt, and so forth. After presenting (automaticallyor under patient control) each prompt in a series of prompts, forexample, the user interface 902 a can update the progress indicator 908to reflect the session's current progress.

Prompt presentation may include descriptive and/or positional elementsto instruct a patient to move particular body parts. As shown in FIG.9A, for example, the BCI/assist device 102 can prompt the patient tomove his or her right hand, by displaying the cue “right” on the rightside of the prompt presentation area 910. Upon perceiving the promptedinstruction, for example, the patient can begin moving his or her righthand, and can continue moving the hand while the instruction isdisplayed. As shown in FIG. 9B, for example, the patient may be promptedto move his or her left hand, by displaying the cue “left” on the leftside of the prompt presentation area 910. Similar to the previousexample, the patient can begin moving his or her left hand uponperceiving the prompted instruction, and can continue moving the handwhile the instruction is displayed. As shown in FIG. 9C, for example,the patient may be prompted by the BCI/assist device 102 to move his orher left and right hands at the same time, by simultaneously displayingthe cue “left” on the left side of the prompt presentation area 910 andthe cue “right” on the right side of the prompt presentation area 910.Similar to both previous examples, the patient can begin simultaneouslymoving both of his or her hands upon perceiving the promptedinstruction, and can continue moving the hands while the instruction isdisplayed. In general, by consistently presenting prompts at particularpositions on the user interface 900 a that are associated with body partmovement (e.g., presenting a prompt on a left side of a screen to move aleft hand), the prompts may be more quickly processed and performed by apatient. For instance, a patient may more quickly process positionaldifferences between prompts than textual differences—meaning that apatient may understand and respond to positional prompts more quicklythan mere textual prompts. Such decreased reaction time can allow forthe brain signals that are responsive to the prompt to be more closelyconnected in time to the prompt, which can aid the BCI/assist device inreliably identifying features from brain signals that are associatedwith the prompted action.

During a training mode (e.g., training mode 804) and/or calibration mode(calibration mode 810), patients may be periodically prompted to rest(e.g., to not move any part of the patient's body). Referring to FIG.9D, for example, the prompt presentation area 910 can prompt a patientto rest by displaying the cue “rest” in the middle of the promptpresentation area 910. Prompts to rest may be interspersed betweenprompts which instruct the patient to perform an activity such as themovement of one or both hands, for example. Thus, the patient's brainsignals may be allowed to return to a state associated with non-activitybefore prompting the patient to perform a different activity.

In some implementations, a subset of the prompts provided to a user(e.g., a patient) during a training session may be provided to the userduring a calibration session. For example, a patient may be providedwith prompts to move an impaired hand, to move an unimpaired hand, tomove both hands, and to rest during a training session. During acalibration session, however, the patient may be provided with promptsto move only the impaired hand and to rest, for example.

Referring now to FIGS. 9E and 9F, there are shown an example series ofdisplay screens of an instance of a graphical user interface (GUI) forprompting and/or providing feedback to a user (e.g., a patient) during ageneral operation mode (e.g., operation mode 806) process (e.g., theFIG. 8C method 840). User interfaces 900 b and 900 c may be visuallypresented to the user by display equipment included in a BCI/assistdevice. For example, the user interfaces 900 b and 900 c may bepresented by the display device 106 of the BCI/assist device 102 (shownin FIG. 1), or by the visual output display equipment 206 of theBCI/assist device 202 (shown in FIG. 2).

In general, a patient can use a BCI/assist device in a general operationmode (e.g., operation mode 806) after completing a calibration session.During the general operation mode, for example, the patient may respondto prompts in a cued mode, or may choose to use the BCI/assist device asa robotic assistance device in a free control mode. Thus, therapysessions can have variation, and the patient may have some flexibilityin selecting a suitable therapy style.

Referring to FIG. 9E, the user interface 900 b depicts an example GUIthat can be used during cued operation mode (e.g., cued operation mode807 a) during which a patient is prompted to perform various actions.The user interface 900 b includes the mode selection control 902. In thepresent example, the mode selection control 902 indicates that aBCI/assist device (e.g., the BCI/assist device 102) is in a cuedoperation mode. After performing a calibration session, for example, theBCI/assist device 102 may transition to a cued operation mode in whichthe patient is cued to alternately move and to rest an impaired bodypart. For example, the prompt presentation area 910 can prompt thepatient to move his or her left hand. Information related to thepatient's intention to move a body part (e.g., the left hand) may bepresented to the patient by an intention indicator 920. For example, theintention indicator 920 may indicate a degree of agreement (i.e.,matching) between the patient's current neural signals and neural signaldata that have been previously correlated with a currently promptedaction (e.g., a prompt to move the left hand). By viewing the intentionindicator 920, for example, the patient may be aware of how his or herbrain signals are currently being interpreted by the BCI/assist device102.

In some implementations, the intention of a user to move a body part maybe associated with a particular movement or action. For example, thebody movement assistance component 108 of the BCI/assist device 102 maybe placed in a closed hand position by default (e.g., at rest), and maybe opened in response to a patient's intention to move the hand. Asanother example, the movement assistance component 108 may be placed inan open hand position by default (e.g., at rest), and may be closed inresponse to the patient's intention to move the hand. Based on thedegree of agreement (i.e., matching) between the patient's currentneural signals and stored neural signal data associated with body partmovement, the intention indicator 920 may be updated, for example, whilemoving the movement assistance component 108.

Referring to FIG. 9F, the mode selection control 902 of the userinterface 900 c shows the BCI/assist device 102 in a free control mode(e.g., free control mode 807 b). For example, the patient may select thecontrol 902 to switch from the cued mode to the free control mode. Whilein free control mode, for example, the patient can use the BCI/assistdevice 102 to perform various tasks in his or her home, such as graspingobjects. Similar to the intention indicator 920 of the user interface900 b, for example, the user interface 900 c includes an intentionindicator 922. The intention indicator 922, for example, may indicate adegree of agreement (i.e., matching) between the patient's currentneural signals and neural signal data that have been previouslycorrelated with a particular action (e.g., opening or closing animpaired hand). When the BCI/assist device 102 identifies the patient'scurrent movement intention as corresponding to an action, for example,an activity counter indicator 924 (e.g., a total number of actions for asession relative to a target number of actions) can be incremented.Further, activity count information can be stored by the BCI/assistdevice 102 and can be provided to the central system 120.

Device status information can be provided to the patient through theuser interface 900 c. For example, a battery level indicator 926 and aheadset battery indicator 928 can each be displayed during free controlmode. Thus, the patient may recharge the BCI/assist device 102 and/orits associated brain signal acquisition system 112 (e.g., headset) whenbattery levels are low. Such device status information and/or activitycount indicator 924 can also be presented in the other example userinterfaces 900 a and 900 b.

Referring now to FIG. 9G, an example display screen is shown of aninstance of a graphical user interface (GUI) for providing device statusand error information to a user. Similar to the previous userinterfaces, for example, a user interface 900 d may be visuallypresented to the user by display equipment included in a BCI/assistdevice. For example, the user interface 900 d may be presented by thedisplay device 106 of the BCI/assist device 102 (shown in FIG. 1), or bythe visual output display equipment 206 of the BCI/assist device 202(shown in FIG. 2).

In general, a user (e.g., a patient) can refer to the user interface 900d to troubleshoot possible issues with a BCI/assist device (e.g., theBCI/assist device 102) and/or its associated brain signal acquisitionsystem (e.g., the signal acquisition system 112). For example, aconnection between the BCI/assist device 102 and the signal acquisitionsystem 112 (e.g., a headset) may be faulty, or one or more of the signalacquisition system's surface electrodes 114 may not be functioningcorrectly due to poor conductivity or some other issue.

The user interface 900 d, for example, can include a connection statusindicator 930 for indicating a current status of the connection betweenthe BCI/assist device 102 and the signal acquisition system 112, and aconnection drop indicator 932 for indicating a number of droppedconnections during a current session. Further, the user interface 900 dof the present example can include a battery level indicator 934 forindicating the current battery level of the BCI/assist device 102 and/orthe signal acquisition system 112. Further, the user interface 900 d ofthe present example can include a set of electrode contact qualityindicators 936 for indicating a status of each of the individualelectrodes of the brain signal acquisition system 112. Contact qualitymay be identified and differentiated by various visual indicators, suchas color (e.g. green indicating good, yellow indicating fair, redindicating poor), font size, or some other type of indicator. Poorlyoperating electrodes may be identified and possibly remedied (e.g., byreapplying a contact gel) by the patient, for example. In the depictedexample, a graphical icon associated with the electrode FC5 ishighlighted, which can indicate that the BCI/assist device 102 isdetecting a poor connection for this electrode on the signal acquisitionsystem 112. In another example, the icons for electrodes F7, AF3, and P8have bold text, which may indicate an intermediate quality connectionfor the corresponding electrodes on the signal acquisition system 112.The remaining icons may indicate a good quality connection for thecorresponding electrodes in the signal acquisition system 112. Theindicators 936 for the signal acquisition system 112 may be spatiallyarranged so as to correspond to the physical layout of the electrodes onthe signal acquisition system 112. In another example, the indicatorsmay be super-imposed over appropriate locations of an image/graphicaldepiction of the signal acquisition system 112, so as to help a patientquickly diagnose and resolve any connection problems.

FIG. 10 is a block diagram of computing devices 1000, 1050 that may beused to implement the systems and methods described in this document, aseither a client or as a server or plurality of servers. Computing device1000 is intended to represent various forms of digital computers, suchas laptops, desktops, workstations, personal digital assistants,servers, blade servers, mainframes, and other appropriate computers.Computing device 1050 is intended to represent various forms of mobiledevices, such as personal digital assistants, cellular telephones,smartphones, and other similar computing devices. Additionally computingdevice 1000 or 1050 can include Universal Serial Bus (USB) flash drives.The USB flash drives may store operating systems and other applications.The USB flash drives can include input/output components, such as awireless transmitter or USB connector that may be inserted into a USBport of another computing device. The components shown here, theirconnections and relationships, and their functions, are meant to beexemplary only, and are not meant to limit implementations describedand/or claimed in this document.

Computing device 1000 includes a processor 1002, memory 1004, a storagedevice 1006, a high-speed interface 1008 connecting to memory 1004 andhigh-speed expansion ports 1010, and a low speed interface 1012connecting to low speed bus 1014 and storage device 1006. Each of thecomponents 1002, 1004, 1006, 1008, 1010, and 1012, are interconnectedusing various busses, and may be mounted on a common motherboard or inother manners as appropriate. The processor 1002 can processinstructions for execution within the computing device 1000, includinginstructions stored in the memory 1004 or on the storage device 1006 todisplay graphical information for a GUI on an external input/outputdevice, such as display 1016 coupled to high speed interface 1008. Inother implementations, multiple processors and/or multiple buses may beused, as appropriate, along with multiple memories and types of memory.Also, multiple computing devices 1000 may be connected, with each deviceproviding portions of the necessary operations (e.g., as a server bank,a group of blade servers, or a multi-processor system).

The memory 1004 stores information within the computing device 1000. Inone implementation, the memory 1004 is a volatile memory unit or units.In another implementation, the memory 1004 is a non-volatile memory unitor units. The memory 1004 may also be another form of computer-readablemedium, such as a magnetic or optical disk.

The storage device 1006 is capable of providing mass storage for thecomputing device 1000. In one implementation, the storage device 1006may be or contain a computer-readable medium, such as a floppy diskdevice, a hard disk device, an optical disk device, or a tape device, aflash memory or other similar solid state memory device, or an array ofdevices, including devices in a storage area network or otherconfigurations. A computer program product can be tangibly embodied inan information carrier. The computer program product may also containinstructions that, when executed, perform one or more methods, such asthose described above. The information carrier is a computer- ormachine-readable medium, such as the memory 1004, the storage device1006, or memory on processor 1002.

The high speed controller 1008 manages bandwidth-intensive operationsfor the computing device 1000, while the low speed controller 1012manages lower bandwidth-intensive operations. Such allocation offunctions is exemplary only. In one implementation, the high-speedcontroller 1008 is coupled to memory 1004, display 1016 (e.g., through agraphics processor or accelerator), and to high-speed expansion ports1010, which may accept various expansion cards (not shown). In theimplementation, low-speed controller 1012 is coupled to storage device1006 and low-speed expansion port 1014. The low-speed expansion port,which may include various communication ports (e.g., USB, Bluetooth,Ethernet, wireless Ethernet) may be coupled to one or more input/outputdevices, such as a keyboard, a pointing device, a scanner, or anetworking device such as a switch or router, e.g., through a networkadapter.

The computing device 1000 may be implemented in a number of differentforms, as shown in the figure. For example, it may be implemented as astandard server 1020, or multiple times in a group of such servers. Itmay also be implemented as part of a rack server system 1024. Inaddition, it may be implemented in a personal computer such as a laptopcomputer 1022. Alternatively, components from computing device 1000 maybe combined with other components in a mobile device (not shown), suchas device 1050. Each of such devices may contain one or more ofcomputing device 1000, 1050, and an entire system may be made up ofmultiple computing devices 1000, 1050 communicating with each other.

Computing device 1050 includes a processor 1052, memory 1064, aninput/output device such as a display 1054, a communication interface1066, and a transceiver 1068, among other components. The device 1050may also be provided with a storage device, such as a microdrive orother device, to provide additional storage. Each of the components1050, 1052, 1064, 1054, 1066, and 1068, are interconnected using variousbuses, and several of the components may be mounted on a commonmotherboard or in other manners as appropriate.

The processor 1052 can execute instructions within the computing device1050, including instructions stored in the memory 1064. The processormay be implemented as a chipset of chips that include separate andmultiple analog and digital processors. Additionally, the processor maybe implemented using any of a number of architectures. For example, theprocessor 1052 may be a CISC (Complex Instruction Set Computers)processor, a RISC (Reduced Instruction Set Computer) processor, or aMISC (Minimal Instruction Set Computer) processor. The processor mayprovide, for example, for coordination of the other components of thedevice 1050, such as control of user interfaces, applications run bydevice 1050, and wireless communication by device 1050.

Processor 1052 may communicate with a user through control interface1058 and display interface 1056 coupled to a display 1054. The display1054 may be, for example, a TFT (Thin-Film-Transistor Liquid CrystalDisplay) display or an OLED (Organic Light Emitting Diode) display, orother appropriate display technology. The display interface 1056 maycomprise appropriate circuitry for driving the display 1054 to presentgraphical and other information to a user. The control interface 1058may receive commands from a user and convert them for submission to theprocessor 1052. In addition, an external interface 1062 may be providein communication with processor 1052, so as to enable near areacommunication of device 1050 with other devices. External interface 1062may provide, for example, for wired communication in someimplementations, or for wireless communication in other implementations,and multiple interfaces may also be used.

The memory 1064 stores information within the computing device 1050. Thememory 1064 can be implemented as one or more of a computer-readablemedium or media, a volatile memory unit or units, or a non-volatilememory unit or units. Expansion memory 1074 may also be provided andconnected to device 1050 through expansion interface 1072, which mayinclude, for example, a SIMM (Single In Line Memory Module) cardinterface. Such expansion memory 1074 may provide extra storage spacefor device 1050, or may also store applications or other information fordevice 1050. Specifically, expansion memory 1074 may includeinstructions to carry out or supplement the processes described above,and may include secure information also. Thus, for example, expansionmemory 1074 may be provide as a security module for device 1050, and maybe programmed with instructions that permit secure use of device 1050.In addition, secure applications may be provided via the SIMM cards,along with additional information, such as placing identifyinginformation on the SIMM card in a non-hackable manner.

The memory may include, for example, flash memory and/or NVRAM memory,as discussed below. In one implementation, a computer program product istangibly embodied in an information carrier. The computer programproduct contains instructions that, when executed, perform one or moremethods, such as those described above. The information carrier is acomputer- or machine-readable medium, such as the memory 1064, expansionmemory 1074, or memory on processor 1052 that may be received, forexample, over transceiver 1068 or external interface 1062.

Device 1050 may communicate wirelessly through communication interface1066, which may include digital signal processing circuitry wherenecessary. Communication interface 1066 may provide for communicationsunder various modes or protocols, such as GSM voice calls, SMS, EMS, orMMS messaging, CDMA, TDMA, PDC, WCDMA, CDMA2000, or GPRS, among others.Such communication may occur, for example, through radio-frequencytransceiver 1068. In addition, short-range communication may occur, suchas using a Bluetooth, WiFi, or other such transceiver (not shown). Inaddition, GPS (Global Positioning System) receiver module 1070 mayprovide additional navigation- and location-related wireless data todevice 1050, which may be used as appropriate by applications running ondevice 1050.

Device 1050 may also communicate audibly using audio codec 1060, whichmay receive spoken information from a user and convert it to usabledigital information. Audio codec 1060 may likewise generate audiblesound for a user, such as through a speaker, e.g., in a handset ofdevice 1050. Such sound may include sound from voice telephone calls,may include recorded sound (e.g., voice messages, music files, etc.) andmay also include sound generated by applications operating on device1050.

The computing device 1050 may be implemented in a number of differentforms, as shown in the figure. For example, it may be implemented as acellular telephone 1080. It may also be implemented as part of asmartphone 1082, personal digital assistant, or other similar mobiledevice.

Various implementations of the systems and techniques described here canbe realized in digital electronic circuitry, integrated circuitry,specially designed ASICs (application specific integrated circuits),computer hardware, firmware, software, and/or combinations thereof.These various implementations can include implementation in one or morecomputer programs that are executable and/or interpretable on aprogrammable system including at least one programmable processor, whichmay be special or general purpose, coupled to receive data andinstructions from, and to transmit data and instructions to, a storagesystem, at least one input device, and at least one output device.

These computer programs (also known as programs, software, softwareapplications or code) include machine instructions for a programmableprocessor, and can be implemented in a high-level procedural and/orobject-oriented programming language, and/or in assembly/machinelanguage. As used herein, the terms “machine-readable medium”“computer-readable medium” refers to any computer program product,apparatus and/or device (e.g., magnetic discs, optical disks, memory,Programmable Logic Devices (PLDs)) used to provide machine instructionsand/or data to a programmable processor, including a machine-readablemedium that receives machine instructions as a machine-readable signal.The term “machine-readable signal” refers to any signal used to providemachine instructions and/or data to a programmable processor.

To provide for interaction with a user, the systems and techniquesdescribed here can be implemented on a computer having a display device(e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor)for displaying information to the user and a keyboard and a pointingdevice (e.g., a mouse or a trackball) by which the user can provideinput to the computer. Other kinds of devices can be used to provide forinteraction with a user as well; for example, feedback provided to theuser can be any form of sensory feedback (e.g., visual feedback,auditory feedback, or tactile feedback); and input from the user can bereceived in any form, including acoustic, speech, or tactile input.

The systems and techniques described here can be implemented in acomputing system that includes a back end component (e.g., as a dataserver), or that includes a middleware component (e.g., an applicationserver), or that includes a front end component (e.g., a client computerhaving a graphical user interface or a Web browser through which a usercan interact with an implementation of the systems and techniquesdescribed here), or any combination of such back end, middleware, orfront end components. The components of the system can be interconnectedby any form or medium of digital data communication (e.g., acommunication network). Examples of communication networks include alocal area network (“LAN”), a wide area network (“WAN”), peer-to-peernetworks (having ad-hoc or static members), grid computinginfrastructures, and the Internet.

The computing system may include clients and servers. A client andserver are generally remote from each other and typically interactthrough a communication network. The relationship of client and serverarises by virtue of computer programs running on the respectivecomputers and having a client-server relationship to each other.

A number of embodiments have been described. Nevertheless, it will beunderstood that various modifications may be made without departing fromthe spirit and scope of the invention. In addition, the logic flowsdepicted in the figures do not require the particular order shown, orsequential order, to achieve desirable results. In addition, other stepsmay be provided, or steps may be eliminated, from the described flows,and other components may be added to, or removed from, the describedsystems. Accordingly, other embodiments are within the scope of thefollowing claims.

What is claimed is:
 1. A brain-controlled body movement assistancesystem comprising: a brain-computer interface (BCI) component configuredto (i) receive brain signal information captured from a user, (ii)process the captured brain signal information to detect an intended bodymovement of the user, and (iii) produce an output signal correspondingto the intended body movement; a body movement assistance componentoperably connected to the BCI component and adapted to be worn by theuser, the body movement assistance component configured to receive theoutput signal from the BCI component and, in response thereto, move in amanner corresponding to the intended body movement; and a feedbackmechanism provided connected with at least one of the BCI component andthe body movement assistance component, the feedback mechanismconfigured to output information regarding the brain-controlled bodymovement assistance device.
 2. The system of claim 1, wherein the bodymovement assistance component is adapted to be worn by and connect to ahand of the user.
 3. The system of claim 2, wherein the body movementassistance component includes a first extension member to which a firstfinger attachment mechanism is slidably attached.
 4. The system of claim3, wherein the first extension member is adapted to be moved in a firstdirection that is downward in relation to a top of a first attachedfinger to provide flexion movement of the first attached finger andadapted to be moved in an opposite, second direction that is upward inrelation to the top of the first attached finger to provide extensionmovement of the first attached finger.
 5. The system of claim 4, whereinthe body movement assistance component includes a second extensionmember to which a second finger attachment mechanism is slidablyattached.
 6. The system of claim 5, wherein the second extension memberis adapted to be moved in the first direction that is downward inrelation to a top of a second attached finger to provide flexionmovement of the second attached finger and adapted to be moved in theopposite, second direction that is upward in relation to the top of thesecond attached finger to provide extension movement of the secondattached finger.
 7. The system of claim 5, wherein the first fingerattachment mechanism is adapted to allow rocking of the first fingerattachment mechanism with respect to the first extension member, andwherein the second finger attachment mechanism is adapted to allowrocking of the second finger attachment mechanism with respect to thesecond extension member.
 8. The system of claim 2, further comprising ahousing attached to the body movement assistance component and adaptedto be worn by and connect to a forearm of the user.
 9. The system ofclaim 8, wherein the BCI component is disposed within the housing. 10.The system of claim 1, wherein the feedback mechanism comprises an audiooutput device.
 11. The system of claim 1, wherein the feedback mechanismcomprises a visual output device.
 12. The system of claim 11, whereinthe visual output device comprises one or more indicator lights.
 13. Thesystem of claim 11, wherein the visual output device comprises a displaydevice.
 14. The system of claim 13, further comprising a housingattached to the body movement assistance component and adapted to beworn by and connect to a forearm of the user, wherein at least a portionof the BCI component is disposed within the housing and the displaydevice is attached to the housing.
 15. The system of claim 1, furthercomprising one or more sensors arranged to detect a level of force towhich the user drives movement of the body movement assistancecomponent.
 16. A brain-controlled body movement assistance system,comprising: a brain-computer interface (BCI) component configured to beworn by a user and to (i) receive brain signal information captured fromthe user, (ii) detect, from the received brain signal information, anintention to move a body part, and (iii) output a signal correspondingto the intention to move the body part; and a body movement assistancecomponent configured to be worn by the user and to move in a manner thatimparts movement to the body part, wherein the user is able to ambulatewhile wearing the body movement assistance component.
 17. The system ofclaim 16, further comprising a feedback mechanism configured to provideinformation indicative of the intention to move the body part.
 18. Thesystem of claim 16, wherein the BCI component is adapted to be worn onan arm the user.
 19. The system of claim 16, wherein the body movementassistance component is operably connected to the BCI component andadapted to be worn on a hand of the user.
 20. The system of claim 16,further comprising means for generating one or more sensory stimulationsto prompt the user to generate one or more particular brain signals.